diff --git a/dataset_info/Agilex_Cobot_Magic_erase_board_left.yaml b/dataset_info/Agilex_Cobot_Magic_erase_board_left.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e71a65fff30b2f61d33e4a1557516e150084ad2d --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_erase_board_left.yaml @@ -0,0 +1,515 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_erase_board_left +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: education + level2: school + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null +- object_name: whiteboard + level1: stationery + level2: whiteboard + level3: null + level4: null + level5: null +- object_name: whiteboard_eraser + level1: stationery + level2: whiteboard_eraser + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- use the left claw to pick up the whiteboard eraser, wipe the notes on the whiteboard + clean, and then put them back in place. +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: Grasp the eraser and wipe the blackboard with the left gripper + subtask_index: 4 +- subtask: 'null' + subtask_index: 5 +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: 49 + total_frames: 23847 + fps: 30 + total_tasks: 6 + total_videos: 147 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 217.68 MB +frame_num: 23847 +dataset_size: 217.68 MB +data_structure: 'Agilex_Cobot_Magic_erase_board_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 + + | `-- ... (37 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: 0:48 +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.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 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_jeans_shorts_children's.yaml b/dataset_info/Agilex_Cobot_Magic_fold_jeans_shorts_children's.yaml new file mode 100644 index 0000000000000000000000000000000000000000..137da5beefbc2fde9178f44bcb8ce6fe4948ef19 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_jeans_shorts_children's.yaml @@ -0,0 +1,522 @@ +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_jeans_shorts_children's +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: denim_shorts + level1: clothing + level2: denim_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 children's denim shorts in half with two grippers, then fold them in half + again, and use the left claw to place the folded children's denim shorts on the + tray. +sub_tasks: +- subtask: Grasp the blue trousers with the right gripper + subtask_index: 0 +- subtask: Fold the blue trousers upwards with the right gripper + subtask_index: 1 +- subtask: Fold the blue trousers from right to left with the right gripper + subtask_index: 2 +- subtask: Place the folded blue trousers on the green tray with the left gripper + subtask_index: 3 +- subtask: Grasp the blue trousers with the left gripper + subtask_index: 4 +- subtask: Fold the blue trousers upwards with the left gripper + subtask_index: 5 +- subtask: Fold the blue trousers from left to right with the left 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: 60562 + 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: 912.51 MB +frame_num: 60562 +dataset_size: 912.51 MB +data_structure: 'Agilex_Cobot_Magic_fold_jeans_shorts_children_s_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 + + | `-- ... (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 + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7cf3be0f430da9a9153fd35707fe08a9cdba8a9d --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel.yaml @@ -0,0 +1,516 @@ +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_towel +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null +- object_name: white_towel + level1: daily_necessities + level2: white_towel + level3: null + level4: null + level5: null +- object_name: orange_towel + level1: daily_necessities + level2: orange_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: +- fold the towels on the table. +sub_tasks: +- subtask: Fold the white towel upwards with the right gripper + subtask_index: 0 +- subtask: Grasp the orange towel with the left gripper + subtask_index: 1 +- subtask: Grasp the orange towel with the right gripper + subtask_index: 2 +- subtask: Fold the orange towel upwards with the right gripper + subtask_index: 3 +- subtask: Fold the white towel upwards with the left gripper + subtask_index: 4 +- subtask: Fold the orange towel from right to left with right gripper + subtask_index: 5 +- subtask: Press on the orange towel with the left gripper + subtask_index: 6 +- subtask: Fold the white towel from right to left with right gripper + subtask_index: 7 +- subtask: End + subtask_index: 8 +- subtask: Arrange the orange towel with the right hand + subtask_index: 9 +- subtask: Grasp the white towel with the right gripper + subtask_index: 10 +- subtask: Fold the orange towel upwards with the left gripper + subtask_index: 11 +- subtask: Grasp the white towel with the left gripper + subtask_index: 12 +- subtask: Press on the white towel with the left gripper + subtask_index: 13 +- subtask: 'null' + subtask_index: 14 +atomic_actions: +- grasp +- fold +- lift +- lower +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 76161 + fps: 30 + total_tasks: 15 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 834.61 MB +frame_num: 76161 +dataset_size: 834.61 MB +data_structure: 'Agilex_Cobot_Magic_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 + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_blue_tray.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_blue_tray.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cb920075d58c3a59cd4f4508ade09b8fc787e36c --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_blue_tray.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: Agilex_Cobot_Magic_fold_towel_blue_tray +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: green_tray + level1: kitchen_supplies + level2: green_tray + level3: null + level4: null + level5: null +- object_name: blue_square_towel + level1: daily_necessities + level2: blue_square_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: +- use both grippers to hold the edge of the towel and fold it forward.,use the right + gripper to hold the right edge and fold it again,use a gripper to place the folded + towel on the tray. +sub_tasks: +- subtask: Fold the blue white towel upwards with the right gripper + subtask_index: 0 +- subtask: Fold the blue white towel upwards with the left gripper + subtask_index: 1 +- subtask: Grasp the blue white towel with the right gripper + subtask_index: 2 +- subtask: Fold the blue white towel from right to left with right gripper + subtask_index: 3 +- subtask: Grasp the blue white towel with the left gripper + subtask_index: 4 +- subtask: end + subtask_index: 5 +- subtask: Place the folded gray towel on the green tray with the right gripper + subtask_index: 6 +- subtask: 'null' + subtask_index: 7 +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: 63491 + fps: 30 + total_tasks: 8 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 935.31 MB +frame_num: 63491 +dataset_size: 935.31 MB +data_structure: 'Agilex_Cobot_Magic_fold_towel_blue_tray_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 diff --git a/dataset_info/Agilex_Cobot_Magic_fold_towel_pink_tray.yaml b/dataset_info/Agilex_Cobot_Magic_fold_towel_pink_tray.yaml new file mode 100644 index 0000000000000000000000000000000000000000..71b82f366b8dbaab2826f59e0e56ba87da44bc9c --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_fold_towel_pink_tray.yaml @@ -0,0 +1,498 @@ +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_towel_pink_tray +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: green_tray + level1: kitchen_supplies + level2: green_tray + level3: null + level4: null + level5: null +- object_name: pink_square_towel + level1: daily_necessities + level2: pink_square_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: +- use both grippers to hold the edge of the towel and fold it forward.,use the right + gripper to hold the right edge and fold it again,use a gripper to place the folded + towel on the tray. +sub_tasks: +- subtask: Fold the pink towel upwards + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Place the folded pink towel on the tray with the left gripper + subtask_index: 2 +- subtask: Fold the pink towel from right to left with right gripper + subtask_index: 3 +- subtask: 'null' + subtask_index: 4 +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: 63678 + fps: 30 + total_tasks: 5 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 766.05 MB +frame_num: 63678 +dataset_size: 766.05 MB +data_structure: 'Agilex_Cobot_Magic_fold_towel_pink_tray_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 diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7a6cd81ef1baad6d007a2b71664d31ef490e121c --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen.yaml @@ -0,0 +1,524 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_mouse_pen +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: office & workspace + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null +- object_name: deli_water-based_marker + level1: stationery + level2: deli_water-based_marker + level3: null + level4: null + level5: null +- object_name: notebook + level1: stationery + level2: notebook + level3: null + level4: null + level5: null +- object_name: mouse + level1: appliances + level2: mouse + level3: null + level4: null + level5: null +- object_name: mouse_pad + level1: appliances + level2: mouse_pad + level3: null + level4: null + level5: null +- object_name: white_table_cloths + level1: laboratory_supplies + level2: white_table_cloths + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- the left gripper organize the pen on the notebook then the right gripper organize + the mouse on the mouse pad. +sub_tasks: +- subtask: Grasp the mouse with the left gripper + subtask_index: 0 +- subtask: Grasp the marker with the left gripper + subtask_index: 1 +- subtask: Grasp the mouse with the right gripper + subtask_index: 2 +- subtask: Place the mouse on the mouse pad with the right gripper + subtask_index: 3 +- subtask: Place the marker on the notebook with the right gripper + subtask_index: 4 +- subtask: Grasp the marker with the right gripper + subtask_index: 5 +- subtask: end + subtask_index: 6 +- subtask: Place the mouse on the mouse pad with the left gripper + subtask_index: 7 +- subtask: Place the marker on the notebook with the left gripper + subtask_index: 8 +- subtask: 'null' + subtask_index: 9 +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: 30 + total_frames: 22756 + fps: 30 + total_tasks: 10 + total_videos: 90 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 276.67 MB +frame_num: 22756 +dataset_size: 276.67 MB +data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_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 + + | `-- ... (18 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: 0:29 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8bf79911b5b657e3070779c0f6f41c42c51dd76f --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth.yaml @@ -0,0 +1,524 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: office & workspace + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null +- object_name: deli_water-based_marker + level1: stationery + level2: deli_water-based_marker + level3: null + level4: null + level5: null +- object_name: notebook + level1: stationery + level2: notebook + level3: null + level4: null + level5: null +- object_name: mouse + level1: appliances + level2: mouse + level3: null + level4: null + level5: null +- object_name: mouse_pad + level1: appliances + level2: mouse_pad + level3: null + level4: null + level5: null +- object_name: green_table_cloths + level1: laboratory_supplies + 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: +- the left gripper organize the pen on the notebook then the right gripper organize + the mouse on the mouse pad. +sub_tasks: +- subtask: Place the mouse on the mouse pad with the left gripper + subtask_index: 0 +- subtask: Grasp the marker with the left gripper + subtask_index: 1 +- subtask: Grasp the mouse with the right gripper + subtask_index: 2 +- subtask: Place the mouse on the mouse pad with the right gripper + subtask_index: 3 +- subtask: Place the marker on the notebook with the right gripper + subtask_index: 4 +- subtask: Grasp the marker with the right gripper + subtask_index: 5 +- subtask: Grasp the mouse with the left gripper + subtask_index: 6 +- subtask: end + subtask_index: 7 +- subtask: Place the marker on the notebook with the left gripper + subtask_index: 8 +- subtask: 'null' + subtask_index: 9 +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: 30 + total_frames: 19527 + fps: 30 + total_tasks: 10 + total_videos: 90 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 316.01 MB +frame_num: 19527 +dataset_size: 316.01 MB +data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_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 + + | `-- ... (18 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: 0:29 +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 diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..07082179fa25b15a774a79e508593aeb640ca02b --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth.yaml @@ -0,0 +1,521 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: office & workspace + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null +- object_name: deli_water-based_marker + level1: stationery + level2: deli_water-based_marker + level3: null + level4: null + level5: null +- object_name: notebook + level1: stationery + level2: notebook + level3: null + level4: null + level5: null +- object_name: mouse + level1: appliances + level2: mouse + level3: null + level4: null + level5: null +- object_name: mouse_pad + level1: appliances + level2: mouse_pad + level3: null + level4: null + level5: null +- object_name: khaki_table_cloths + level1: laboratory_supplies + level2: khaki_table_cloths +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- the left gripper organize the pen on the notebook then the right gripper organize + the mouse on the mouse pad. +sub_tasks: +- subtask: Grasp the mouse with the left gripper + subtask_index: 0 +- subtask: Grasp the marker with the left gripper + subtask_index: 1 +- subtask: Grasp the mouse with the right gripper + subtask_index: 2 +- subtask: Place the mouse on the mouse pad with the right gripper + subtask_index: 3 +- subtask: Place the marker on the notebook with the right gripper + subtask_index: 4 +- subtask: Grasp the marker with the right gripper + subtask_index: 5 +- subtask: end + subtask_index: 6 +- subtask: Place the mouse on the mouse pad with the left gripper + subtask_index: 7 +- subtask: Place the marker on the notebook with the left gripper + subtask_index: 8 +- subtask: 'null' + subtask_index: 9 +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: 30 + total_frames: 20954 + fps: 30 + total_tasks: 10 + total_videos: 90 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 347.28 MB +frame_num: 20954 +dataset_size: 347.28 MB +data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_khaki_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 + + | `-- ... (18 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: 0:29 +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 diff --git a/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d14ab98ed8903db06536729f0300b9ad7ac5d82e --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth.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: Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: office & workspace + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null +- object_name: deli_water-based_marker + level1: stationery + level2: deli_water-based_marker + level3: null + level4: null + level5: null +- object_name: notebook + level1: stationery + level2: notebook + level3: null + level4: null + level5: null +- object_name: mouse + level1: appliances + level2: mouse + level3: null + level4: null + level5: null +- object_name: mouse_pad + level1: appliances + level2: mouse_pad + 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: +- the left gripper organize the pen on the notebook then the right gripper organize + the mouse on the mouse pad. +sub_tasks: +- subtask: Right gripper + subtask_index: 0 +- subtask: Pick up the mouse with right gripper + subtask_index: 1 +- subtask: Pick up the marker pen with right gripper + subtask_index: 2 +- subtask: Pick up the mouse with left gripper + subtask_index: 3 +- subtask: End + subtask_index: 4 +- subtask: Place the marker pen on the notebook with right gripper + subtask_index: 5 +- subtask: Place the mouse on the mouse pad with left gripper + subtask_index: 6 +- subtask: Place the marker pen on the notebook with left gripper + subtask_index: 7 +- subtask: Left gripper + subtask_index: 8 +- subtask: Pick up the marker pen with left gripper + subtask_index: 9 +- subtask: Place the mouse on the mouse pad with right gripper + subtask_index: 10 +- subtask: 'null' + subtask_index: 11 +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: 30 + total_frames: 20689 + fps: 30 + total_tasks: 12 + total_videos: 90 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 664.79 MB +frame_num: 20689 +dataset_size: 664.79 MB +data_structure: 'Agilex_Cobot_Magic_move_mouse_pen_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 + + | `-- ... (18 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: 0:29 +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 diff --git a/dataset_info/Agilex_Cobot_Magic_move_object_black_tablecloth.yaml b/dataset_info/Agilex_Cobot_Magic_move_object_black_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..8cb743314436e2466071ab3aeb3343122473ea93 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_object_black_tablecloth.yaml @@ -0,0 +1,1127 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_object_black_tablecloth +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: commercial & convenience + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null +- object_name: black_table_cloths + level1: laboratory_supplies + level2: black_table_cloths + level3: null + level4: null + level5: null +- object_name: waffle + level1: food + level2: waffle + level3: null + level4: null + level5: null +- object_name: green_lemon + level1: food + level2: green_lemon + level3: null + level4: null + level5: null +- object_name: eggplant + level1: food + level2: eggplant + level3: null + level4: null + level5: null +- object_name: chewing_gum + level1: food + level2: chewing_gum + level3: null + level4: null + level5: null +- object_name: chocolate + level1: food + level2: chocolate + level3: null + level4: null + level5: null +- object_name: mango + level1: food + level2: mango + level3: null + level4: null + level5: null +- object_name: chewing_gum + level1: food + level2: chewing_gum + level3: null + level4: null + level5: null +- object_name: mint_candy + level1: food + level2: mint_candy + level3: null + level4: null + level5: null +- object_name: mangosteen + level1: food + level2: mangosteen + level3: null + level4: null + level5: null +- object_name: orange + level1: food + level2: orange + level3: null + level4: null + level5: null +- object_name: bread + level1: food + level2: bread + level3: null + level4: null + level5: null +- object_name: banana + level1: food + level2: banana + level3: null + level4: Fruit cake + level5: null +- object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null +- object_name: beef_cheeseburger + level1: food + level2: beef_cheeseburger + level3: null + level4: null + level5: null +- object_name: bowl + level1: kitchen_supplies + level2: bowl + level3: null + level4: null + level5: null +- object_name: pan + level1: kitchen_supplies + level2: pan + level3: null + level4: null + level5: null +- object_name: small_teapot + level1: kitchen_supplies + level2: small_teapot + level3: null + level4: null + level5: null +- object_name: small_teacup + level1: kitchen_supplies + level2: small_teacup + level3: null + level4: null + level5: null +- object_name: paper_ball + level1: trash + level2: paper_ball + level3: null + level4: null + level5: null +- object_name: brown_square_towel + level1: daily_necessities + level2: brown_square_towel + level3: null + level4: null + level5: null +- object_name: black_cylindrical_pen_holder + level1: stationery + level2: black_cylindrical_pen_holder + level3: null + level4: null + level5: null +- object_name: pink_long_towel + level1: daily_necessities + level2: pink_long_towel + level3: null + level4: null + level5: null +- object_name: whiteboard_eraser + level1: stationery + level2: whiteboard_eraser + level3: null + level4: null + level5: null +- object_name: mentholatum_facial_cleanser + level1: daily_necessities + level2: mentholatum_facial_cleanser + level3: null + level4: null + level5: null +- object_name: duck + level1: toys + level2: duck + level3: null + level4: null + level5: null +- object_name: compass + level1: stationery + level2: compass + level3: null + level4: null + level5: null +- object_name: bowl + level1: kitchen_supplies + level2: bowl + level3: null + level4: null + level5: null +- object_name: blue_long_towel + level1: daily_necessities + level2: blue_long_towel + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- the gripper move the object. +sub_tasks: +- subtask: Place the XX on the table with the left gripper + subtask_index: 0 +- subtask: 'Grasp the pen container with the right gripper + + ' + subtask_index: 1 +- subtask: 'Grasp the blue bowl with the left gripper + + ' + subtask_index: 2 +- subtask: Grasp the pen container with the right gripper + subtask_index: 3 +- subtask: 'Place the square chewing gum on the table with the left gripper + + ' + subtask_index: 4 +- subtask: 'Grasp the pink towel with the left gripper + + ' + subtask_index: 5 +- subtask: 'Place the blue pot on the table with the right gripper + + ' + subtask_index: 6 +- subtask: 'Place the brown towel on the table with the left gripper + + ' + subtask_index: 7 +- subtask: 'Place the waffle on the table with the left gripper + + ' + subtask_index: 8 +- subtask: 'Place the white duck on the table with the right gripper + + ' + subtask_index: 9 +- subtask: 'Place the white blackboard erasure on the table with the left gripper + + ' + subtask_index: 10 +- subtask: 'Grasp the compass with the left gripper + + ' + subtask_index: 11 +- subtask: 'Grasp the green lemon with the right gripper + + ' + subtask_index: 12 +- subtask: 'Grasp the cyan cup with the left gripper + + ' + subtask_index: 13 +- subtask: 'Place the blue bowl on the table with the left gripper + + ' + subtask_index: 14 +- subtask: 'Grasp the mint candy with the right gripper + + ' + subtask_index: 15 +- subtask: Grasp the mint candy with the left gripper + subtask_index: 16 +- subtask: 'Grasp the cyan cup with the right gripper + + ' + subtask_index: 17 +- subtask: 'Grasp the green lemon with the left gripper + + ' + subtask_index: 18 +- subtask: "Grasp the white blackboard erasure\t with the left gripper\n" + subtask_index: 19 +- subtask: 'Grasp the white duck with the left gripper + + ' + subtask_index: 20 +- subtask: Grasp the square chewing gum with the left gripper + subtask_index: 21 +- subtask: 'Grasp the mint candy with the left gripper + + ' + subtask_index: 22 +- subtask: Place the brown towel on the table with the left gripper + subtask_index: 23 +- subtask: 'Place the on the table with the right gripper + + ' + subtask_index: 24 +- subtask: Grasp the XX with the right gripper + subtask_index: 25 +- subtask: 'Place the blue blackboard erasure on the table with the left gripper + + ' + subtask_index: 26 +- subtask: Place the white blackboard erasure on the table with the left gripper + subtask_index: 27 +- subtask: 'Place the teapot on the table with the right gripper + + ' + subtask_index: 28 +- subtask: Grasp the white blackboard erasure with the left gripper + subtask_index: 29 +- subtask: 'Grasp the Square chewing gum with the right gripper + + ' + subtask_index: 30 +- subtask: 'Place the pink towel on the table with the left gripper + + ' + subtask_index: 31 +- subtask: 'Grasp the hard facial cleanser with the right gripper + + ' + subtask_index: 32 +- subtask: 'Grasp the with the left gripper + + ' + subtask_index: 33 +- subtask: Place the hard facial cleanser on the table with the right gripper + subtask_index: 34 +- subtask: 'Grasp the white duck with the left gripper + + ' + subtask_index: 35 +- subtask: Place the mint candy on the table with the right gripper + subtask_index: 36 +- subtask: Grasp the brown towel with the left gripper + subtask_index: 37 +- subtask: Grasp the chocolate with the right gripper + subtask_index: 38 +- subtask: Grasp the brown towel with the right gripper + subtask_index: 39 +- subtask: Grasp the mango with the left gripper + subtask_index: 40 +- subtask: 'Place the white blackboard erasure on the table with the left gripper + + ' + subtask_index: 41 +- subtask: 'Grasp the brown towel with the left gripper + + ' + subtask_index: 42 +- subtask: 'Place the mango on the table with the right gripper + + ' + subtask_index: 43 +- subtask: 'Place the brown towel on the table with the left gripper + + ' + subtask_index: 44 +- subtask: Place the teapot on the table with the left gripper + subtask_index: 45 +- subtask: Grasp the hard facial cleanser with the right gripper + subtask_index: 46 +- subtask: 'Place the pink towel on the table with the right gripper + + ' + subtask_index: 47 +- subtask: 'Grasp the pink towel with the right gripper + + ' + subtask_index: 48 +- subtask: Place the waffle on the table with the right gripper + subtask_index: 49 +- subtask: 'Place the blue pot on the table with the left gripper + + ' + subtask_index: 50 +- subtask: Place the pen container on the table with the right gripper + subtask_index: 51 +- subtask: 'Grasp the blue pot with the right gripper + + ' + subtask_index: 52 +- subtask: 'Grasp the pen container with the left gripper + + ' + subtask_index: 53 +- subtask: 'Grasp the green lemon with the right gripper + + ' + subtask_index: 54 +- subtask: Grasp the eggplant with the right gripper + subtask_index: 55 +- subtask: "Place the white blackboard erasure\t on the table with the left gripper\n" + subtask_index: 56 +- subtask: 'Place the eggplant on the table with the left gripper + + ' + subtask_index: 57 +- subtask: Place the green lemon on the table with the left gripper + subtask_index: 58 +- subtask: Place the XX on the table with the right gripper + subtask_index: 59 +- subtask: End + subtask_index: 60 +- subtask: Grasp the white blackboard erasure with the right gripper + subtask_index: 61 +- subtask: 'Place the white duck on the table with the left gripper + + ' + subtask_index: 62 +- subtask: 'Place the orange on the table with the left gripper + + ' + subtask_index: 63 +- subtask: 'Grasp the eggplant with the right gripper + + ' + subtask_index: 64 +- subtask: 'Grasp the brown towel with the right gripper + + ' + subtask_index: 65 +- subtask: 'Place the square chewing gum on the table with the right gripper + + ' + subtask_index: 66 +- subtask: 'Place the compass on the table with the right gripper + + ' + subtask_index: 67 +- subtask: 'Grasp the orange with the left gripper + + ' + subtask_index: 68 +- subtask: 'Place the hard facial cleanser on the table with the left gripper + + ' + subtask_index: 69 +- subtask: 'Grasp the blue blackboard erasure with the left gripper + + ' + subtask_index: 70 +- subtask: 'Place the brown towel on the table with the right gripper + + ' + subtask_index: 71 +- subtask: 'Grasp the blue blackboard erasure with the right gripper + + ' + subtask_index: 72 +- subtask: 'Grasp the eggplant with the left gripper + + ' + subtask_index: 73 +- subtask: 'Grasp the square chewing gum with the right gripper + + ' + subtask_index: 74 +- subtask: 'Place the mango on the table with the left gripper + + ' + subtask_index: 75 +- subtask: Grasp the waffle with the right gripper + subtask_index: 76 +- subtask: "Grasp the white blackboard erasure\t with the right gripper\n" + subtask_index: 77 +- subtask: 'Place the teapot on the table with the left gripper + + ' + subtask_index: 78 +- subtask: 'Place the waffle on the table with the right gripper + + ' + subtask_index: 79 +- subtask: 'Grasp the mango with the right gripper + + ' + subtask_index: 80 +- subtask: 'Grasp the white blackboard erasure with the left gripper + + ' + subtask_index: 81 +- subtask: 'Grasp the blue pot with the left gripper + + ' + subtask_index: 82 +- subtask: Place the square chewing gum on the table with the right gripper + subtask_index: 83 +- subtask: 'Place the pen container on the table with the right gripper + + ' + subtask_index: 84 +- subtask: 'Place the green lemon on the table with the right gripper + + ' + subtask_index: 85 +- subtask: 'Place the blue blackboard erasure on the table with the right gripper + + ' + subtask_index: 86 +- subtask: 'Grasp the teapot with the left gripper + + ' + subtask_index: 87 +- subtask: 'Place the borwn towel on the table with the right gripper + + ' + subtask_index: 88 +- subtask: 'Place the pen container on the table with the left gripper + + ' + subtask_index: 89 +- subtask: 'Grasp the compass with the left gripper + + ' + subtask_index: 90 +- subtask: 'Grasp the fruit candy with the right gripper + + ' + subtask_index: 91 +- subtask: 'Place the cyan cup on the table with the left gripper + + ' + subtask_index: 92 +- subtask: 'Place the fruit candy on the table with the right gripper + + ' + subtask_index: 93 +- subtask: 'Place the compass on the table with the left gripper + + ' + subtask_index: 94 +- subtask: 'Grasp the white duck with the right gripper + + ' + subtask_index: 95 +- subtask: 'Grasp the waffle with the right gripper + + ' + subtask_index: 96 +- subtask: 'Place the blue pot on the table with the left gripper + + ' + subtask_index: 97 +- subtask: 'Grasp the mango with the left gripper + + ' + subtask_index: 98 +- subtask: 'Grasp the teapot with the right gripper + + ' + subtask_index: 99 +- subtask: 'Place the teacup on the table with the left gripper + + ' + subtask_index: 100 +- subtask: 'Grasp the pink towel with the right gripper + + ' + subtask_index: 101 +- subtask: 'Grasp the blue pot with the left gripper + + ' + subtask_index: 102 +- subtask: 'Place the mango on the table with the right gripper + + ' + subtask_index: 103 +- subtask: Place the mangosteen on the table with the left gripper + subtask_index: 104 +- subtask: 'Grasp the square chewing gum with the left gripper + + ' + subtask_index: 105 +- subtask: Grasp the square chewing gum with the right gripper + subtask_index: 106 +- subtask: 'Grasp the compass with the right gripper + + ' + subtask_index: 107 +- subtask: 'Place the tea cup on the table with the right gripper + + ' + subtask_index: 108 +- subtask: 'Place the teapot on the table with the left gripper + + ' + subtask_index: 109 +- subtask: 'Grasp the cyan cup with the left gripper + + ' + subtask_index: 110 +- subtask: 'Grasp the eggplant with the right gripper + + ' + subtask_index: 111 +- subtask: Place the white blackboard erasure on the table with the right gripper + subtask_index: 112 +- subtask: 'Place the green lemon on the table with the left gripper + + ' + subtask_index: 113 +- subtask: 'Grasp the hard facial cleanser with the left gripper + + ' + subtask_index: 114 +- subtask: "Place the white blackboard erasure\t on the table with the right gripper\n" + subtask_index: 115 +- subtask: Place the mango on the table with the left gripper + subtask_index: 116 +- subtask: 'Grasp the tea cup with the right gripper + + ' + subtask_index: 117 +- subtask: 'Grasp the waffle with the left gripper + + ' + subtask_index: 118 +- subtask: 'Grasp the pink towel with the left gripper + + ' + subtask_index: 119 +- subtask: 'Place the hard facial cleanser on the table with the right gripper + + ' + subtask_index: 120 +- subtask: 'Place the eggplant on the table with the right gripper + + ' + subtask_index: 121 +- subtask: 'Place the mint candy on the table with the left gripper + + ' + subtask_index: 122 +- subtask: 'Grasp the mint candy with the right gripper + + ' + subtask_index: 123 +- subtask: 'Grasp the chocolate with the right gripper + + ' + subtask_index: 124 +- subtask: 'Place the cyan cup on the table with the right gripper + + ' + subtask_index: 125 +- subtask: Grasp the XX with the left gripper + subtask_index: 126 +- subtask: Place the chocolate on the table with the right gripper + subtask_index: 127 +- subtask: Grasp the mint candy with the right gripper + subtask_index: 128 +- subtask: 'Grasp the with the right gripper + + ' + subtask_index: 129 +- subtask: Place the brown towel on the table with the right gripper + subtask_index: 130 +- subtask: Grasp the green lemon with the left gripper + subtask_index: 131 +- subtask: Place the Mangosteen on the table with the right gripper + subtask_index: 132 +- subtask: Place the square chewing gum on the table with the left gripper + subtask_index: 133 +- subtask: 'Grasp the teacup with the left gripper + + ' + subtask_index: 134 +- subtask: 'Place the chocolate on the table with the right gripper + + ' + subtask_index: 135 +- subtask: 'Grasp the blue bowl with the left gripper + + ' + subtask_index: 136 +- subtask: Grasp the teapot with the left gripper + subtask_index: 137 +- subtask: 'Place the pink bowel on the table with the right gripper + + ' + subtask_index: 138 +- subtask: 'Place the mint candy on the table with the right gripper + + ' + subtask_index: 139 +- subtask: 'null' + subtask_index: 140 +atomic_actions: +- grasp +- lift +- lower +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 200 + total_frames: 119721 + fps: 30 + total_tasks: 141 + total_videos: 600 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 6.75 GB +frame_num: 119721 +dataset_size: 6.75 GB +data_structure: 'Agilex_Cobot_Magic_move_object_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 + + | `-- ... (188 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:199 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_move_pencil_sharpener.yaml b/dataset_info/Agilex_Cobot_Magic_move_pencil_sharpener.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6bb1986c832ab7ab12abb829354c4d048b4bfae0 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_move_pencil_sharpener.yaml @@ -0,0 +1,531 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Agilex_Cobot_Magic_move_pencil_sharpener +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: deli_stapler + level1: stationery + level2: deli_stapler + level3: null + level4: null + level5: null +- object_name: deli_water-based_marker + level1: stationery + level2: deli_water-based_marker + level3: null + level4: null + level5: null +- object_name: deli_watercolor_marker_box + level1: stationery + level2: deli_watercolor_marker_box + level3: null + level4: null + level5: null +- object_name: purple_incenser + level1: daily_necessities + level2: purple_incense + level3: null + level4: null + level5: null +- object_name: pencil_sharpener + level1: stationery + level2: pencil_sharpener + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Place the pencil sharpener on the left side of the stapler. +sub_tasks: +- subtask: Place the pencil sharpener to the left of the stapler with the left gripper + subtask_index: 0 +- subtask: Grasp the pencil sharpene with the right gripper + subtask_index: 1 +- subtask: End + subtask_index: 2 +- subtask: Grasp the pencil sharpene with the left gripper + subtask_index: 3 +- subtask: Place the pencil sharpener to the left of the stapler with the right gripper + subtask_index: 4 +- subtask: 'null' + subtask_index: 5 +atomic_actions: +- grasp +- lift +- lower +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 98 + total_frames: 41602 + fps: 30 + total_tasks: 6 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 374.66 MB +frame_num: 41602 +dataset_size: 374.66 MB +data_structure: 'Agilex_Cobot_Magic_move_pencil_sharpener_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 + + | `-- ... (86 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: 0:97 +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.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 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_fruit_bowl.yaml b/dataset_info/Agilex_Cobot_Magic_storage_fruit_bowl.yaml new file mode 100644 index 0000000000000000000000000000000000000000..63c8897117d88b0cfe7ece7935fb9068fae6c379 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_fruit_bowl.yaml @@ -0,0 +1,525 @@ +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_fruit_bowl +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null +- object_name: bowl + level1: kitchen_supplies + level2: bowl + level3: null + level4: null + level5: null +- object_name: green_lemon + level1: food + level2: green_lemon + level3: null + level4: null + level5: null +- object_name: mango + level1: food + level2: mango + level3: null + level4: null + level5: null +- object_name: pomegranate + level1: food + level2: pomegranate + 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 three fruits on the table into a bowl. +sub_tasks: +- subtask: Grasp the pomegranate with left gripper + subtask_index: 0 +- subtask: Place the pomegranate in the blue bowl with left gripper + subtask_index: 1 +- subtask: Grasp the pomegranate with right gripper + subtask_index: 2 +- subtask: Place the green lemon in the blue bowl with right gripper + subtask_index: 3 +- subtask: Grasp the green lemon with left gripper + subtask_index: 4 +- subtask: Place the pomegranate in the blue bowl with right gripper + subtask_index: 5 +- subtask: Place the mango in the blue bowl with right gripper + subtask_index: 6 +- subtask: Grasp the mango with right gripper + subtask_index: 7 +- subtask: End + subtask_index: 8 +- subtask: Place the mango in the blue bowl with left gripper + subtask_index: 9 +- subtask: Grasp the green lemon with right gripper + subtask_index: 10 +- subtask: Place the green lemon in the blue bowl with left gripper + subtask_index: 11 +- subtask: Grasp the mango with left gripper + subtask_index: 12 +- subtask: 'null' + subtask_index: 13 +atomic_actions: +- grasp +- lift +- lower +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 78670 + fps: 30 + total_tasks: 14 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 740.83 MB +frame_num: 78670 +dataset_size: 740.83 MB +data_structure: 'Agilex_Cobot_Magic_storage_fruit_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 + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_lemon_mango.yaml b/dataset_info/Agilex_Cobot_Magic_storage_lemon_mango.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2711ad74df603d389de529a95688ae8a32f1ec6c --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_lemon_mango.yaml @@ -0,0 +1,545 @@ +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_lemon_mango +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: office_workspace + level2: office + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null +- object_name: brown_basket + level1: home_storage + level2: brown_basket + level3: null + level4: null + level5: null +- object_name: mango + level1: food + level2: mango + level3: null + level4: null + level5: null +- object_name: green_lemon + level1: food + level2: green_lemon + 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: whiteboard_erasers + level1: stationery + level2: whiteboard_erasers + level3: null + level4: null + level5: null +- object_name: bathing_in_flowers + level1: daily_necessities + level2: bathing_in_flowers + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- Randomly grab green lemon or mangoes from the table and put them in a basket. +sub_tasks: +- subtask: Place the mango into the basket with the right gripper + subtask_index: 0 +- subtask: Grasp the mango with the right gripper + subtask_index: 1 +- subtask: Grasp the Lemon with the right gripper + subtask_index: 2 +- subtask: End + subtask_index: 3 +- subtask: Grasp the mango with the left gripper + subtask_index: 4 +- subtask: Place the Lemon into the basket with the left gripper + subtask_index: 5 +- subtask: Place the mango into the basket with the left gripper + subtask_index: 6 +- subtask: Grasp the Lemon with the left gripper + subtask_index: 7 +- subtask: Place the Lemon into the basket with the right gripper + subtask_index: 8 +- subtask: 'null' + subtask_index: 9 +atomic_actions: +- grasp +- lift +- lower +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 28424 + fps: 30 + total_tasks: 10 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 362.05 MB +frame_num: 28424 +dataset_size: 362.05 MB +data_structure: 'Agilex_Cobot_Magic_storage_lemon_mango_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 + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_right.yaml b/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_right.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b24318d27848ee1e708a9579aa49228b3baa1195 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_orange_basket_right.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_right +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: +- the right gripper grabs oranges and puts them into the basket. +sub_tasks: +- subtask: Place the orange in the basket with right gripper + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Abnormal + subtask_index: 2 +- subtask: Grasp the orange with right 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: 98 + total_frames: 22531 + fps: 30 + total_tasks: 5 + total_videos: 294 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 233.17 MB +frame_num: 22531 +dataset_size: 233.17 MB +data_structure: 'Agilex_Cobot_Magic_storage_orange_basket_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 + + |-- 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 + + | `-- ... (86 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: 0:97 +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.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 diff --git a/dataset_info/Agilex_Cobot_Magic_storage_orange_white_bag.yaml b/dataset_info/Agilex_Cobot_Magic_storage_orange_white_bag.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5277f6a912ec27c56c8be053e164d8111e51ea83 --- /dev/null +++ b/dataset_info/Agilex_Cobot_Magic_storage_orange_white_bag.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_storage_orange_white_bag +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: household + level2: living_room + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null +- object_name: brown_basket + level1: home_storage + level2: brown_basket + level3: null + level4: null + level5: null +- object_name: white_canvas_bags + level1: daily_necessities + level2: white_canvas_bags + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- open the white linen bag and put the orange in the bag. +sub_tasks: +- subtask: Grasp the orange with right gripper + subtask_index: 0 +- subtask: Grasp the orange with left gripper + subtask_index: 1 +- subtask: End + subtask_index: 2 +- subtask: Lift the handbag with left gripper + subtask_index: 3 +- subtask: Place the orange in the handbag with right gripper + subtask_index: 4 +- subtask: Place the orange in the basket with right gripper + subtask_index: 5 +- subtask: Put down the handbag with left gripper + subtask_index: 6 +- subtask: 'null' + subtask_index: 7 +atomic_actions: +- grasp +- lift +- lower +robot_name: +- Agilex_Cobot_Magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 43104 + fps: 30 + total_tasks: 8 + total_videos: 300 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 406.02 MB +frame_num: 43104 +dataset_size: 406.02 MB +data_structure: 'Agilex_Cobot_Magic_storage_orange_white_bag_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + dtype: int32 + shape: + - 5 + scene_annotation: + names: null + dtype: int32 + shape: + - 1 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + dtype: float32 + shape: + - 12 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + dtype: int32 + shape: + - 2 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + dtype: int32 + shape: + - 2 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + dtype: int32 + shape: + - 2 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + dtype: int32 + shape: + - 2 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + dtype: int32 + shape: + - 2 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + dtype: float32 + shape: + - 2 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_cover_lid.yaml b/dataset_info/Airbot_MMK2_cover_lid.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a1cd8f7bbec5cc4e754c0442b0a39787c5ec3198 --- /dev/null +++ b/dataset_info/Airbot_MMK2_cover_lid.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_cover_lid +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: lid + level1: laboratory_supplies + level2: lid + level3: null + level4: null + level5: null +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- pick up the lid with both hands and cover the box. +sub_tasks: +- subtask: Place the lid on the box with the left gripper + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Grasp the lid with the right gripper + subtask_index: 2 +- subtask: Place the lid on the box with the right gripper + subtask_index: 3 +- subtask: Grasp the lid with the left gripper + subtask_index: 4 +- subtask: 'null' + subtask_index: 5 +atomic_actions: +- lift +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 16213 + 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: 569.80 MB +frame_num: 16213 +dataset_size: 569.80 MB +data_structure: "Airbot_MMK2_cover_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\ + | `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ + \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_open_lid.yaml b/dataset_info/Airbot_MMK2_open_lid.yaml new file mode 100644 index 0000000000000000000000000000000000000000..28c8918447fcbc0bd10bb6ce5b97a29341b369d7 --- /dev/null +++ b/dataset_info/Airbot_MMK2_open_lid.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_open_lid +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: other + level2: laboratory + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: box + level1: home_storage + level2: box + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- open the lid of the box with both hands. +sub_tasks: +- subtask: Open the box lid with the right gripper + subtask_index: 0 +- subtask: Touch the box lid with the left gripper + subtask_index: 1 +- subtask: Press the box with the left gripper + subtask_index: 2 +- subtask: End + subtask_index: 3 +- subtask: Open the box lid with the left gripper + subtask_index: 4 +- subtask: Touch the box lid with the right gripper + subtask_index: 5 +- subtask: Abnormal + subtask_index: 6 +- subtask: 'null' + subtask_index: 7 +atomic_actions: +- open +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: 198 + total_frames: 28684 + fps: 30 + total_tasks: 8 + total_videos: 792 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 974.53 MB +frame_num: 28684 +dataset_size: 974.53 MB +data_structure: "Airbot_MMK2_open_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\ + | `-- ... (186 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: 0:197 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_play_guitar.yaml b/dataset_info/Airbot_MMK2_play_guitar.yaml new file mode 100644 index 0000000000000000000000000000000000000000..131d3820eca0decdc5780356f969233b2c072111 --- /dev/null +++ b/dataset_info/Airbot_MMK2_play_guitar.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_play_guitar +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: education + level2: after-school_tutoring_center + 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: block + level1: toy + level2: block + level3: null + level4: null + level5: null +- object_name: guitar + level1: musical_instrument + level2: guitar + 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 guitar with your left hand, play it with your right hand, and then put + it down with your left hand. +sub_tasks: +- subtask: Lift the ukulele with the left gripper + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Play ukulele with the right gripper + subtask_index: 2 +- subtask: Grasp the ukulele with the left gripper + subtask_index: 3 +- subtask: Place the ukulele on the table with the left gripper + subtask_index: 4 +- subtask: 'null' + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 94 + total_frames: 23327 + fps: 30 + total_tasks: 6 + total_videos: 376 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 944.70 MB +frame_num: 23327 +dataset_size: 944.70 MB +data_structure: "Airbot_MMK2_play_guitar_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_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\ + | `-- ... (82 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: 0:93 +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 diff --git a/dataset_info/Airbot_MMK2_pull_plunger.yaml b/dataset_info/Airbot_MMK2_pull_plunger.yaml new file mode 100644 index 0000000000000000000000000000000000000000..d43383cce9a3f8271f2a0692913d8ce4fd83bec2 --- /dev/null +++ b/dataset_info/Airbot_MMK2_pull_plunger.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_pull_plunger +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: medical_healthcare + level2: hospital + 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: syringe + level1: medical_supplies + level2: syringe + 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 syringe with your left hand and pull the piston with your right hand. +sub_tasks: +- subtask: Lift the syringe with the left gripper + subtask_index: 0 +- subtask: Pull the piston with the right gripper + subtask_index: 1 +- subtask: End + subtask_index: 2 +- subtask: Grasp the syringe with the left gripper + subtask_index: 3 +- subtask: Grasp the piston with the right gripper + subtask_index: 4 +- subtask: Place the syringe on the table with the left gripper + subtask_index: 5 +- subtask: 'null' + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +- pull +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 97 + total_frames: 26077 + fps: 30 + total_tasks: 7 + total_videos: 388 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1002.56 MB +frame_num: 26077 +dataset_size: 1002.56 MB +data_structure: "Airbot_MMK2_pull_plunger_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| \ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n\ + |-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n\ + | |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| \ + \ |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n\ + | |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| \ + \ |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n\ + | `-- ... (85 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ + \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:96 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_push_plunger.yaml b/dataset_info/Airbot_MMK2_push_plunger.yaml new file mode 100644 index 0000000000000000000000000000000000000000..aeb9b9e4dfd03cac4cdb9c65d14822315755b0e1 --- /dev/null +++ b/dataset_info/Airbot_MMK2_push_plunger.yaml @@ -0,0 +1,438 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_push_plunger +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: medical_healthcare + level2: hospital + 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: syringe + level1: medical_supplies + level2: syringe + 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 syringe with your left hand, then push it back with your right hand, + and finally lower it with your left hand. +sub_tasks: +- subtask: Lift the syringe with the left gripper + subtask_index: 0 +- subtask: Push the piston with the right gripper + subtask_index: 1 +- subtask: End + subtask_index: 2 +- subtask: Grasp the syringe with the left gripper + subtask_index: 3 +- subtask: Grasp the piston with the right gripper + subtask_index: 4 +- subtask: Place the syringe on the table with the left gripper + subtask_index: 5 +- subtask: Abnormal + subtask_index: 6 +- subtask: 'null' + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +- 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: 147 + total_frames: 47091 + fps: 30 + total_tasks: 8 + total_videos: 588 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.65 GB +frame_num: 47091 +dataset_size: 1.65 GB +data_structure: "Airbot_MMK2_push_plunger_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_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\ + | `-- ... (135 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: 0:146 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_remove_pen_cap.yaml b/dataset_info/Airbot_MMK2_remove_pen_cap.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0628d60601a01b4228f55ce9bf59bd4387e712bd --- /dev/null +++ b/dataset_info/Airbot_MMK2_remove_pen_cap.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_remove_pen_cap +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: pen + level1: stationery + level2: pen + 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 pen, remove the cap, and put it down. +sub_tasks: +- subtask: Place the pen cap on the table with the right gripper + subtask_index: 0 +- subtask: Grasp the pen tightly with the left gripper + subtask_index: 1 +- subtask: End + subtask_index: 2 +- subtask: Place the pen on the table with the left gripper + subtask_index: 3 +- subtask: Remove the pen cap with the right gripper + subtask_index: 4 +- subtask: Lift the pen 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: 100 + total_frames: 41147 + fps: 30 + total_tasks: 7 + total_videos: 400 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.52 GB +frame_num: 41147 +dataset_size: 1.52 GB +data_structure: "Airbot_MMK2_remove_pen_cap_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |--\ + \ eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| \ + \ |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n\ + |-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n\ + | |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| \ + \ |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n\ + | |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| \ + \ |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n\ + | `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ + \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:99 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_stack_block.yaml b/dataset_info/Airbot_MMK2_stack_block.yaml new file mode 100644 index 0000000000000000000000000000000000000000..9b312dfeb1014fc8fe8047bce277ef097996fd91 --- /dev/null +++ b/dataset_info/Airbot_MMK2_stack_block.yaml @@ -0,0 +1,464 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_stack_block +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: square_building_blocks + level1: toys + level2: square_building_blocks + 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: +- place the square building blocks in the center with left hand and put the cylindrical + building blocks on top with right hand. +sub_tasks: +- subtask: Grasp the blue build blocks with the left gripper + subtask_index: 0 +- subtask: Grasp the green build blocks with the right gripper + subtask_index: 1 +- subtask: Place the blue build blocks on the Mini table with the left gripper + subtask_index: 2 +- subtask: Place the green build blocks on the blue build block with the right gripper + subtask_index: 3 +- subtask: Grasp the blue diamond shaped build blocks with the right gripper + subtask_index: 4 +- subtask: Grasp the red build blocks with the right gripper + subtask_index: 5 +- subtask: Place the blue diamond shaped build blocks on the glasses case with the + right gripper + subtask_index: 6 +- subtask: Place the purple build blocks on the red build block with the right gripper + subtask_index: 7 +- subtask: Place the green build blocks on the center of the table with the left gripper + subtask_index: 8 +- subtask: Grasp the green build blocks with the left gripper + subtask_index: 9 +- subtask: Place the glasses case on the red and green build blocks with the left + gripper + subtask_index: 10 +- subtask: Grasp the purple build blocks with the right gripper + subtask_index: 11 +- subtask: Place the blue build blocks on the yellow build block with the left gripper + subtask_index: 12 +- subtask: Grasp the glasses case with the left gripper + subtask_index: 13 +- subtask: Place the green cylindrical build blocks on the green build blocks with + the right gripper + subtask_index: 14 +- subtask: End + subtask_index: 15 +- subtask: Place the blue build blocks on the pink build block with the left gripper + subtask_index: 16 +- subtask: Place the red build blocks on the blue build block with the right gripper + subtask_index: 17 +- subtask: Grasp the green cylindrical build blocks with the right gripper + subtask_index: 18 +- subtask: 'null' + subtask_index: 19 +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: 236 + total_frames: 60925 + fps: 30 + total_tasks: 20 + total_videos: 944 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 2.00 GB +frame_num: 60925 +dataset_size: 2.00 GB +data_structure: "Airbot_MMK2_stack_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\ + | `-- ... (224 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: 0:235 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cake_both_hands.yaml b/dataset_info/Airbot_MMK2_storage_cake_both_hands.yaml new file mode 100644 index 0000000000000000000000000000000000000000..41e0db99e853cb49f484c20537dca77e93ad556b --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cake_both_hands.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_cake_both_hands +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: cakes + level1: bread + level2: cakes + 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 two cakes in the lid. +sub_tasks: +- subtask: Grasp the cake with the left gripper + subtask_index: 0 +- subtask: Place the cake on the white basket with the right gripper + subtask_index: 1 +- subtask: Grasp the cake with the right gripper + subtask_index: 2 +- subtask: Place the cake on the white basket with the left gripper + subtask_index: 3 +- subtask: Static + subtask_index: 4 +- subtask: End + subtask_index: 5 +- subtask: 'null' + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 4445 + fps: 30 + total_tasks: 7 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 188.05 MB +frame_num: 4445 +dataset_size: 188.05 MB +data_structure: "Airbot_MMK2_storage_cake_both_hands_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n\ + | |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| \ + \ |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n\ + | `-- episode_000011.parquet\n| `-- ... (35 more entries)\n|-- meta\n\ + | |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `--\ + \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ + \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cake_box.yaml b/dataset_info/Airbot_MMK2_storage_cake_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..07448b6dea2a9b9b595aecdc854e5ad34fcd2b03 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cake_box.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_cake_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: flip_top_paper_boxes + level1: packaging + level2: flip_top_paper_boxes + 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: +- open the box with left hand and put the cake in with your right. +sub_tasks: +- subtask: End + subtask_index: 0 +- subtask: Grasp the cake with the right gripper + subtask_index: 1 +- subtask: Open the lid of the box with the left gripper + subtask_index: 2 +- subtask: Place the cake into the box with the right gripper + subtask_index: 3 +- subtask: 'null' + subtask_index: 4 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 50 + total_frames: 10329 + 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: 283.14 MB +frame_num: 10329 +dataset_size: 283.14 MB +data_structure: "Airbot_MMK2_storage_cake_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| `-- ... (38 more entries)\n|-- meta\n\ + | |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `--\ + \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ + \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storage_cake_pan.yaml b/dataset_info/Airbot_MMK2_storage_cake_pan.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b2799cc9d722783b550148a4ea30d046717a5008 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_cake_pan.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_cake_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: kitchen_supplies + level2: pan + 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: +- put the pot down with left hand and place the cake in it with right hand. +sub_tasks: +- subtask: Grasp the frying pan with the left gripper + subtask_index: 0 +- subtask: Grasp the bread with the right gripper + subtask_index: 1 +- subtask: End + subtask_index: 2 +- subtask: Place the bread on the frying pan with the right gripper + subtask_index: 3 +- subtask: Place the frying pan on the table with the left gripper + subtask_index: 4 +- subtask: 'null' + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 8832 + 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: 250.91 MB +frame_num: 8832 +dataset_size: 250.91 MB +data_structure: "Airbot_MMK2_storage_cake_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 diff --git a/dataset_info/Airbot_MMK2_storage_gold_bar_model_shark_doll.yaml b/dataset_info/Airbot_MMK2_storage_gold_bar_model_shark_doll.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c06b1861af96ff38865402db9a3daf9fd2fd20aa --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_gold_bar_model_shark_doll.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_gold_bar_model_shark_doll +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: paper_boxes + level1: packaging + level2: paper_boxes + level3: null + level4: null + level5: null +- object_name: shark_doll + level1: toys + level2: shark_doll + level3: null + level4: null + level5: null +- object_name: gold_bar + level1: metal_products + level2: gold_bar + 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 and the gold bar into the paper box respectively with left and + right hands. +sub_tasks: +- subtask: End + subtask_index: 0 +- subtask: Place the whale on the paper box with the left gripper + subtask_index: 1 +- subtask: Place the gold bar on the paper box with the right gripper + subtask_index: 2 +- subtask: Grasp the whale with the left gripper + subtask_index: 3 +- subtask: Grasp the gold bar 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: 44 + total_frames: 5620 + fps: 30 + total_tasks: 6 + total_videos: 176 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 240.37 MB +frame_num: 5620 +dataset_size: 240.37 MB +data_structure: "Airbot_MMK2_storage_gold_bar_model_shark_doll_qced_hardlink/\n|--\ + \ annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n\ + | |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n\ + | |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| \ + \ |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n\ + | `-- episode_000011.parquet\n| `-- ... (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 diff --git a/dataset_info/Airbot_MMK2_storage_hourglass.yaml b/dataset_info/Airbot_MMK2_storage_hourglass.yaml new file mode 100644 index 0000000000000000000000000000000000000000..060c70be11bd1989045f3bbb125a48dc75f93259 --- /dev/null +++ b/dataset_info/Airbot_MMK2_storage_hourglass.yaml @@ -0,0 +1,430 @@ +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_hourglass +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: hourglass + level1: toys + level2: hourglass + level3: null + level4: null + level5: null +- object_name: storage_box + level1: laboratory_supplies + level2: storage_box + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- place the hourglass in the storage box with right hand. +sub_tasks: +- subtask: End + subtask_index: 0 +- subtask: Place the hourglass into the right compartment of the storage box with + the right gripper + subtask_index: 1 +- subtask: Grasp the hourglass 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: 50 + total_frames: 7471 + fps: 30 + total_tasks: 4 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 236.31 MB +frame_num: 7471 +dataset_size: 236.31 MB +data_structure: "Airbot_MMK2_storage_hourglass_qced_hardlink/\n|-- annotations\n|\ + \ |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n\ + | |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| \ + \ |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n\ + | `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n\ + | |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `--\ + \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ + \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_storge_cake_ice_cream.yaml b/dataset_info/Airbot_MMK2_storge_cake_ice_cream.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1bdf7b38ed733c6d2e3c55efeeb6fa9ef73b881d --- /dev/null +++ b/dataset_info/Airbot_MMK2_storge_cake_ice_cream.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_storge_cake_ice_cream +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: household + level2: kitchen + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: cake + level1: food + level2: cake + level3: null + level4: null + level5: null +- object_name: ice_cream + level1: food + level2: ice_cream + level3: null + level4: null + level5: null +- object_name: plate + level1: kitchen_supplies + level2: plate + 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: +- hold the cake in left hand and the ice cream in right hand at the same time. put + the cake into the bowl and place the ice cream on the plate. +sub_tasks: +- subtask: Place the ice cream into the plate with the right gripper + subtask_index: 0 +- subtask: Grasp the ice cream with the right gripper + subtask_index: 1 +- subtask: Grasp the cake with the left gripper + subtask_index: 2 +- subtask: Place the cake into the bowl with the left gripper + subtask_index: 3 +- subtask: Static + subtask_index: 4 +- subtask: Grasp the cake from the table and with the left gripper + subtask_index: 5 +- subtask: End + subtask_index: 6 +- subtask: 'null' + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 48 + total_frames: 8733 + fps: 30 + total_tasks: 8 + total_videos: 192 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 351.41 MB +frame_num: 8733 +dataset_size: 351.41 MB +data_structure: "Airbot_MMK2_storge_cake_ice_cream_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n\ + | |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| \ + \ |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n\ + | `-- episode_000011.parquet\n| `-- ... (36 more entries)\n|-- meta\n\ + | |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `--\ + \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ + \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:47 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_swap_cake_pumpkin_plate.yaml b/dataset_info/Airbot_MMK2_swap_cake_pumpkin_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..68e623f812dd70fdc54d3241d44b2e3b92affcf0 --- /dev/null +++ b/dataset_info/Airbot_MMK2_swap_cake_pumpkin_plate.yaml @@ -0,0 +1,439 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_swap_cake_pumpkin_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: plate + level1: kitchen_supplies + level2: plate + level3: null + level4: null + level5: null +- object_name: pumpkin + level1: vegetables + level2: pumpkin + level3: null + level4: null + level5: null +- object_name: cake + level1: bread + level2: cake + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- take the cake out with left hand and put the pumpkin in with right hand. +sub_tasks: +- subtask: Grasp the cake with the left gripper + subtask_index: 0 +- subtask: Grasp the pumpkinx 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 pumpkin 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: 50 + total_frames: 13761 + 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: 399.28 MB +frame_num: 13761 +dataset_size: 399.28 MB +data_structure: "Airbot_MMK2_swap_cake_pumpkin_plate_qced_hardlink/\n|-- annotations\n\ + | |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n|\ + \ |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n\ + | |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `--\ + \ subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n\ + | |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| \ + \ |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n\ + | |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| \ + \ |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n\ + | `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n\ + | |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `--\ + \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ + \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:49 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_sweep_peaper.yaml b/dataset_info/Airbot_MMK2_sweep_peaper.yaml new file mode 100644 index 0000000000000000000000000000000000000000..87e157611951a37e25d2406646514e75d0bb3885 --- /dev/null +++ b/dataset_info/Airbot_MMK2_sweep_peaper.yaml @@ -0,0 +1,444 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_sweep_peaper +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: paper_all + level1: trash_bag + level2: paper_all + level3: null + level4: null + level5: null +- object_name: small_broom + level1: cleaning_supplies + level2: small_broom + level3: null + level4: null + level5: null +- object_name: dustpan + level1: cleaning_supplies + level2: dustpan + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- hold the dustpan with left hand and the broom with right hand, and sweep the paper + ball into the dustpan. +sub_tasks: +- subtask: Place the broom on the table with the right gripper + subtask_index: 0 +- subtask: End + subtask_index: 1 +- subtask: Grasp the broom from the table with the right gripper + subtask_index: 2 +- subtask: Grasp the dustpan from the table with the left gripper + subtask_index: 3 +- subtask: Place the dustpan on the table with the left gripper + subtask_index: 4 +- subtask: Abnormal + subtask_index: 5 +- subtask: Sweep the waste paper into the dustpan + subtask_index: 6 +- subtask: 'null' + subtask_index: 7 +atomic_actions: +- grasp +- pick +- place +- 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: 98 + total_frames: 43106 + fps: 30 + total_tasks: 8 + total_videos: 392 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 1.75 GB +frame_num: 43106 +dataset_size: 1.75 GB +data_structure: "Airbot_MMK2_sweep_peaper_qced_hardlink/\n|-- annotations\n| |--\ + \ eef_acc_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 diff --git a/dataset_info/Airbot_MMK2_take_block_both_hands.yaml b/dataset_info/Airbot_MMK2_take_block_both_hands.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a8270c000349dec7d630656b1ce9375aae534315 --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_block_both_hands.yaml @@ -0,0 +1,436 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: Airbot_MMK2_take_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 +- object_name: paper_boxes + level1: home_storage + level2: paper_boxes + 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 simultaneously with both hands and take them out of + the paper box. +sub_tasks: +- subtask: End + subtask_index: 0 +- subtask: Grasp the blue cube block on the paper box with the left gripper + subtask_index: 1 +- subtask: Static + subtask_index: 2 +- subtask: Grasp the green cube block on the paper box with the right gripper + subtask_index: 3 +- subtask: Place the green cube block on the table with the right gripper + subtask_index: 4 +- subtask: Place the blue cube block on the table with the left gripper + subtask_index: 5 +- subtask: 'null' + subtask_index: 6 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 47 + total_frames: 4793 + fps: 30 + total_tasks: 7 + total_videos: 188 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 221.66 MB +frame_num: 4793 +dataset_size: 221.66 MB +data_structure: "Airbot_MMK2_take_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| `-- ... (35 more entries)\n|-- meta\n\ + | |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `--\ + \ tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n\ + \ |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n\ + \ `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:46 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_take_egg.yaml b/dataset_info/Airbot_MMK2_take_egg.yaml new file mode 100644 index 0000000000000000000000000000000000000000..bf0e934876afcd3e47c501eaffb0008e6e66d44f --- /dev/null +++ b/dataset_info/Airbot_MMK2_take_egg.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_take_egg +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: egg_carton + level1: disposable_items + level2: egg_carton + level3: null + level4: null + level5: null +- object_name: egg + level1: eggs + level2: egg + 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 brown eggs from the egg box. +sub_tasks: +- subtask: End + subtask_index: 0 +- subtask: Place the egg on the table with the right gripper + subtask_index: 1 +- subtask: Grasp the egg from the egg storage box 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: 101 + total_frames: 18643 + fps: 30 + total_tasks: 4 + total_videos: 404 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 758.58 MB +frame_num: 18643 +dataset_size: 758.58 MB +data_structure: "Airbot_MMK2_take_egg_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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\ + | `-- ... (89 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ + \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:100 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Airbot_MMK2_unplug.yaml b/dataset_info/Airbot_MMK2_unplug.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b27a9f0c41b64ca262204e651400896f9bbf56fc --- /dev/null +++ b/dataset_info/Airbot_MMK2_unplug.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_unplug +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: power_strips + level1: appliances + level2: power_strips + level3: null + level4: null + level5: null +- object_name: charger + level1: appliances + level2: charger + 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 hand secures the power strip, while the right hand unplugs the charger + and sets it down. +sub_tasks: +- subtask: End + subtask_index: 0 +- subtask: Release socket with the left hand + subtask_index: 1 +- subtask: Put down plug with the right hand + subtask_index: 2 +- subtask: Press and hold the socket with the left hand + subtask_index: 3 +- subtask: Unplug plug with the right hand + subtask_index: 4 +- subtask: 'null' + subtask_index: 5 +atomic_actions: +- uncap +- presss +- place +- pick +robot_name: +- Airbot_MMK2 +end_effector_type: five_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +- cam_front_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_front_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 90 + total_frames: 21487 + fps: 30 + total_tasks: 6 + total_videos: 360 + total_chunks: 1 + chunks_size: 1000 + state_dim: 36 + action_dim: 36 + camera_views: 4 + dataset_size: 870.71 MB +frame_num: 21487 +dataset_size: 870.71 MB +data_structure: "Airbot_MMK2_unplug_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n\ + | |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n\ + | |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n\ + | |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n|\ + \ `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n\ + | |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| \ + \ |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n\ + | |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| \ + \ |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n\ + | `-- ... (78 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n\ + | |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |--\ + \ observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n\ + \ |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb" +splits: + train: 0:89 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_front_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + action: + dtype: float32 + shape: + - 36 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_hand_joint_1_rad + - left_hand_joint_2_rad + - left_hand_joint_3_rad + - left_hand_joint_4_rad + - left_hand_joint_5_rad + - left_hand_joint_6_rad + - left_hand_joint_7_rad + - left_hand_joint_8_rad + - left_hand_joint_9_rad + - left_hand_joint_10_rad + - left_hand_joint_11_rad + - left_hand_joint_12_rad + - right_hand_joint_1_rad + - right_hand_joint_2_rad + - right_hand_joint_3_rad + - right_hand_joint_4_rad + - right_hand_joint_5_rad + - right_hand_joint_6_rad + - right_hand_joint_7_rad + - right_hand_joint_8_rad + - right_hand_joint_9_rad + - right_hand_joint_10_rad + - right_hand_joint_11_rad + - right_hand_joint_12_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_classify_object_five.yaml b/dataset_info/Galaxea_R1_Lite_classify_object_five.yaml new file mode 100644 index 0000000000000000000000000000000000000000..3c6fee8915cfb0605e76d727a4e1eda050a20468 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_classify_object_five.yaml @@ -0,0 +1,621 @@ +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_five +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 +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- 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 rubiks cube and put it in the left basket + subtask_index: 0 +- subtask: Grasp the waffle and put it in the right basket + subtask_index: 1 +- subtask: Grasp the soft cleanser and put it in the left basket + subtask_index: 2 +- subtask: Grasp the back scratcher and put it in the left basket + subtask_index: 3 +- subtask: Grasp the apple and put it in the right basket + subtask_index: 4 +- subtask: End + subtask_index: 5 +- subtask: Grasp the white eraser and put it in the left basket + subtask_index: 6 +- subtask: Grasp the square chewing gum and put it in the right basket + subtask_index: 7 +- subtask: Grasp the power strip and put it in the left basket + subtask_index: 8 +- subtask: Grasp the cleaning agent and put it in the left basket + subtask_index: 9 +- subtask: Grasp the soda water and put it in the right basket + subtask_index: 10 +- subtask: Grasp the spoon and put it in the left basket + subtask_index: 11 +- subtask: Grasp the duck toys and put it in the left basket + subtask_index: 12 +- subtask: Grasp the triangle cake and put it in the right basket + subtask_index: 13 +- subtask: Grasp the compass and put it in the right basket + subtask_index: 14 +- subtask: Grasp the cookie and put it in the right basket + subtask_index: 15 +- subtask: Grasp the compass and put it in the left basket + subtask_index: 16 +- subtask: Grasp the orange and put it in the right basket + subtask_index: 17 +- subtask: Grasp the ballpoint pen and put it in the left basket + subtask_index: 18 +- subtask: Grasp the round bread and put it in the right basket + subtask_index: 19 +- subtask: Grasp the egg yolk pastry and put it in the right basket + subtask_index: 20 +- subtask: Grasp the lemon and put it in the right basket + subtask_index: 21 +- subtask: Grasp the soap and put it in the left basket + subtask_index: 22 +- subtask: Grasp the washing liquid and put it in the left basket + subtask_index: 23 +- subtask: Grasp the hard cleanser and put it in the left basket + subtask_index: 24 +- subtask: Grasp the milk and put it in the right basket + subtask_index: 25 +- subtask: Grasp the black marker and put it in the left basket + subtask_index: 26 +- subtask: Grasp the banana and put it in the right basket + subtask_index: 27 +- subtask: Grasp the black glass cup and put it in the left basket + subtask_index: 28 +- subtask: Grasp the brush and put it in the left basket + subtask_index: 29 +- subtask: Grasp the bath ball and put it in the left basket + subtask_index: 30 +- subtask: Grasp the blue towel and put it in the left basket + subtask_index: 31 +- subtask: Grasp the tea cup and put it in the left basket + subtask_index: 32 +- subtask: Grasp the peeler and put it in the left basket + subtask_index: 33 +- subtask: Grasp the brown towel and put it in the left basket + subtask_index: 34 +- subtask: Grasp the peach and put it in the right basket + subtask_index: 35 +- subtask: Abnormal + subtask_index: 36 +- subtask: Grasp the chocolate and put it in the right basket + subtask_index: 37 +- subtask: Grasp the grey towel and put it in the left basket + subtask_index: 38 +- subtask: Grasp the canned cola and put it in the right basket + subtask_index: 39 +- subtask: Grasp the tape and put it in the left basket + subtask_index: 40 +- subtask: Grasp the bread slice and put it in the right basket + subtask_index: 41 +- subtask: Grasp the tin and put it in the right basket + subtask_index: 42 +- subtask: Grasp the soap and put it in the right basket + subtask_index: 43 +- subtask: Grasp the glasses case and put it in the left basket + subtask_index: 44 +- subtask: Grasp the yellow duck and put it in the right basket + subtask_index: 45 +- subtask: Grasp the peach doll and put it in the right basket + subtask_index: 46 +- subtask: Grasp the blue cup and put it in the left basket + subtask_index: 47 +- subtask: Grasp the pen container and put it in the left basket + subtask_index: 48 +- subtask: Grasp the red duck and put it in the left basket + subtask_index: 49 +- subtask: Grasp the lime and put it in the right basket + subtask_index: 50 +- subtask: Grasp the long bread and put it in the right basket + subtask_index: 51 +- subtask: Grasp the yogurt and put it in the right basket + subtask_index: 52 +- subtask: Grasp the potato chips and put it in the right basket + subtask_index: 53 +- subtask: Grasp the can and put it in the right basket + subtask_index: 54 +- subtask: Grasp the ad milk and put it in the right basket + subtask_index: 55 +- subtask: Grasp the blue marker and put it in the left basket + subtask_index: 56 +- subtask: 'null' + subtask_index: 57 +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: 195 + total_frames: 160875 + fps: 30 + total_tasks: 58 + total_videos: 780 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 8.91 GB +frame_num: 160875 +dataset_size: 8.91 GB +data_structure: 'Galaxea_R1_Lite_classify_object_five_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 + + | `-- ... (183 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: 0:194 +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 diff --git a/dataset_info/Galaxea_R1_Lite_classify_object_six.yaml b/dataset_info/Galaxea_R1_Lite_classify_object_six.yaml new file mode 100644 index 0000000000000000000000000000000000000000..c704497d3ecfd5404f7f84d34c5598a4d5d99f2a --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_classify_object_six.yaml @@ -0,0 +1,651 @@ +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_six +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 +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- 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 small basket containing bread and put it in the right basket + subtask_index: 1 +- subtask: Grasp the lemon and put it in the right basket + subtask_index: 2 +- subtask: Grasp the egg yolk pastry and put it in the right basket + subtask_index: 3 +- subtask: Grasp the can and put it in the right basket + subtask_index: 4 +- subtask: Grasp the apple and put it in the right basket + subtask_index: 5 +- subtask: Grasp the long bread and put it in the right basket + subtask_index: 6 +- subtask: Grasp the canned cola and put it in the right basket + subtask_index: 7 +- subtask: Grasp the back scratcher and put it in the left basket + subtask_index: 8 +- subtask: Grasp the glasses case and put it in the left basket + subtask_index: 9 +- subtask: Grasp the peeler and put it in the left basket + subtask_index: 10 +- subtask: Grasp the cookie and put it in the right basket + subtask_index: 11 +- subtask: Grasp the yellow duck and put it in the right basket + subtask_index: 12 +- subtask: Grasp the cleaning agent and put it in the left basket + subtask_index: 13 +- subtask: Grasp the soft cleanser and put it in the left basket + subtask_index: 14 +- subtask: Grasp the waffle and put it in the right basket + subtask_index: 15 +- subtask: Grasp the grey towel and put it in the left basket + subtask_index: 16 +- subtask: Grasp the orange and put it in the right basket + subtask_index: 17 +- subtask: Grasp the brown towel and put it in the left basket + subtask_index: 18 +- subtask: Grasp the pen container and put it in the left basket + subtask_index: 19 +- subtask: Grasp the hard cleanser and put it in the left basket + subtask_index: 20 +- subtask: Grasp the canned cola and put it in the left basket + subtask_index: 21 +- subtask: Grasp the triangle cake and put it in the right basket + subtask_index: 22 +- subtask: Grasp the shower sphere and put it in the left basket + subtask_index: 23 +- subtask: Grasp the rubiks cube and put it in the right basket + subtask_index: 24 +- subtask: Grasp the broom and put it in the left basket + subtask_index: 25 +- subtask: Grasp the white eraser and put it in the left basket + subtask_index: 26 +- subtask: Grasp the milk and put it in the right basket + subtask_index: 27 +- subtask: Grasp the lime and put it in the right basket + subtask_index: 28 +- subtask: Grasp the brown towel and put it in the right basket + subtask_index: 29 +- subtask: Grasp the duck toys and put it in the left basket + subtask_index: 30 +- subtask: Grasp the power strip and put it in the left basket + subtask_index: 31 +- subtask: Grasp the red duck and put it in the left basket + subtask_index: 32 +- subtask: Grasp the shampoo and put it in the left basket + subtask_index: 33 +- subtask: Grasp the yellow duck and put it in the left basket + subtask_index: 34 +- subtask: Grasp the peach and put it in the right basket + subtask_index: 35 +- subtask: Abnormal + subtask_index: 36 +- subtask: Grasp the tea cup and put it in the left basket + subtask_index: 37 +- subtask: Grasp the pink marker and put it in the left basket + subtask_index: 38 +- subtask: Grasp the brush and put it in the left basket + subtask_index: 39 +- subtask: Grasp the washing liquid and put it in the left basket + subtask_index: 40 +- subtask: Place the rubiks cube in the center of the table + subtask_index: 41 +- subtask: Grasp the soap and put it in the left basket + subtask_index: 42 +- subtask: Grasp the grey towel and put it in the right basket + subtask_index: 43 +- subtask: Grasp the blue marker and put it in the left basket + subtask_index: 44 +- subtask: Grasp the black glass cup and put it in the left basket + subtask_index: 45 +- subtask: Grasp the bath ball and put it in the left basket + subtask_index: 46 +- subtask: Grasp the coke and put it in the right basket + subtask_index: 47 +- subtask: Grasp the potato chips and put it in the right basket + subtask_index: 48 +- subtask: Grasp the ballpoint pen and put it in the left basket + subtask_index: 49 +- subtask: Grasp the rubiks cube and put it in the left basket + subtask_index: 50 +- subtask: Grasp the square chewing gum and put it in the right basket + subtask_index: 51 +- subtask: Grasp the glasses case and put it in the right basket + subtask_index: 52 +- subtask: Grasp the banana and put it in the right basket + subtask_index: 53 +- subtask: Grasp the ad milk and put it in the right basket + subtask_index: 54 +- subtask: Grasp the soda water and put it in the right basket + subtask_index: 55 +- subtask: Grasp the peach doll and put it in the right basket + subtask_index: 56 +- subtask: Grasp the spoon and put it in the left basket + subtask_index: 57 +- subtask: Grasp the blue marker and put it in the right basket + subtask_index: 58 +- subtask: Grasp the blue cup and put it in the left basket + subtask_index: 59 +- subtask: Grasp the compass and put it in the left basket + subtask_index: 60 +- subtask: Grasp the chocolate and put it in the right basket + subtask_index: 61 +- subtask: Grasp the compass and put it in the right basket + subtask_index: 62 +- subtask: End + subtask_index: 63 +- subtask: Grasp the tape and put it in the left basket + subtask_index: 64 +- subtask: Grasp the peeler and put it in the right basket + subtask_index: 65 +- subtask: Grasp the yogurt and put it in the right basket + subtask_index: 66 +- subtask: Grasp the green lemon and put it in the right basket + subtask_index: 67 +- subtask: Grasp the black marker and put it in the left basket + subtask_index: 68 +- subtask: Grasp the round chewing gum and put it in the right basket + subtask_index: 69 +- subtask: Grasp the bread slice and put it in the right basket + subtask_index: 70 +- subtask: Grasp the square chewing gum and put it in the left basket + subtask_index: 71 +- subtask: 'null' + subtask_index: 72 +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: 105 + total_frames: 86401 + fps: 30 + total_tasks: 73 + total_videos: 420 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 5.25 GB +frame_num: 86401 +dataset_size: 5.25 GB +data_structure: 'Galaxea_R1_Lite_classify_object_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 + + | `-- ... (93 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: 0:104 +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 diff --git a/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube.yaml b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube.yaml new file mode 100644 index 0000000000000000000000000000000000000000..e2f6811bb14aa5cb3afa5fe4b0c20a5e4268ab52 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube.yaml @@ -0,0 +1,522 @@ +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_left_small_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: Pour the blue reagent into the graduated cylinder with the left gripper + subtask_index: 0 +- subtask: Pour the yellow reagent into the graduated cylinder with the left gripper + subtask_index: 1 +- subtask: Grasp the yellow reagent with the left gripper + subtask_index: 2 +- subtask: Grasp the blue reagent with the left gripper + subtask_index: 3 +- subtask: End + subtask_index: 4 +- subtask: Place the test tube into the brown cup with the left gripper + subtask_index: 5 +- subtask: Grasp the red reagent with the right gripper + subtask_index: 6 +- subtask: 'null' + subtask_index: 7 +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=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: 50 + total_frames: 33650 + fps: 30 + total_tasks: 8 + total_videos: 200 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.50 GB +frame_num: 33650 +dataset_size: 1.50 GB +data_structure: 'Galaxea_R1_Lite_mix_blue_yellow_left_small_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 + + | `-- ... (38 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: 0:49 +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 diff --git a/dataset_info/Galaxea_R1_Lite_pour_liquid_mrable_bar_counter.yaml b/dataset_info/Galaxea_R1_Lite_pour_liquid_mrable_bar_counter.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4ffcb825466ab0908f04af8d89447856dd20e84a --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_pour_liquid_mrable_bar_counter.yaml @@ -0,0 +1,569 @@ +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_liquid_mrable_bar_counter +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: househhold + 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: marble_bar_counter + level1: furniture + level2: marble_bar_counter + level3: null + level4: null + level5: null +- object_name: plastic_cup + level1: cups + level2: plastic_cup + level3: null + level4: null + level5: null +- object_name: green_dish + level1: plates + level3: green_dish + level2: null + level4: null + level5: null +- object_name: pink_bowl + level1: plastic_bowls + level2: pink_bowl + level3: null + level4: null + level5: null +- object_name: liquid + level1: materials + level2: liquid + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- use a gripper to pick up the cup and pour the liquid into a bowl or tray. +sub_tasks: +- subtask: Pour the orange juice into the pink bowl with left gripper + subtask_index: 0 +- subtask: Pour the black tea into the pink bowl with the right gripper + subtask_index: 1 +- subtask: Grasp the glass of black tea with the right gripper + subtask_index: 2 +- subtask: Pour the orange juice into the blue basin with right gripper + subtask_index: 3 +- subtask: Left gripper + subtask_index: 4 +- subtask: Pour the tea into the pink bowl with left gripper + subtask_index: 5 +- subtask: Grasp the glass of orange juice with the right gripper + subtask_index: 6 +- subtask: Pour the tea into the pink bowl with right gripper + subtask_index: 7 +- subtask: Pick up blue cup filled with tea with right gripper + subtask_index: 8 +- subtask: Pour the orange juice into the pink bowl with the right gripper + subtask_index: 9 +- subtask: Pour the orange juice into the pink bowl with the left gripper + subtask_index: 10 +- subtask: Pour the orange juice into the blue basin with left gripper + subtask_index: 11 +- subtask: Pour the orange juice into the green bowl with the right gripper + subtask_index: 12 +- subtask: Place blue cup with tea on the table with right gripper + subtask_index: 13 +- subtask: Pour the orange juice into the green bowl with the left gripper + subtask_index: 14 +- subtask: Pour the orange juice into the pink bowl with right gripper + subtask_index: 15 +- subtask: Place blue cup with orange juice on the table with right gripper + subtask_index: 16 +- subtask: Pour the black tea into the green bowl with the right gripper + subtask_index: 17 +- subtask: Pick up blue cup filled with orange juice with right gripper + subtask_index: 18 +- subtask: Place blue cup with orange juice on the table with left gripper + subtask_index: 19 +- subtask: Grasp the glass of black tea with the left gripper + subtask_index: 20 +- subtask: Pour the black tea into the green bowl with the left gripper + subtask_index: 21 +- subtask: Pour the tea into the blue basin with right gripper + subtask_index: 22 +- subtask: Pick up blue cup filled with tea with left gripper + subtask_index: 23 +- subtask: Pour the tea into the blue basin with left gripper + subtask_index: 24 +- subtask: Pour the black tea into the pink bowl with the left gripper + subtask_index: 25 +- subtask: Grasp the glass of orange juice with the left gripper + subtask_index: 26 +- subtask: Place the glass cup with the right gripper + subtask_index: 27 +- subtask: Pick up blue cup filled with orange juice with left gripper + subtask_index: 28 +- subtask: End + subtask_index: 29 +- subtask: Place blue cup with shrimp on the table with right gripper + subtask_index: 30 +- subtask: Right gripper + subtask_index: 31 +- subtask: Place blue cup with tea on the table with left gripper + subtask_index: 32 +- subtask: Place the glass cup with the left gripper + subtask_index: 33 +- subtask: 'null' + subtask_index: 34 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 43652 + fps: 30 + total_tasks: 35 + total_videos: 400 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.70 GB +frame_num: 43652 +dataset_size: 1.70 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_liquid_mrable_bar_counter_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_pour_water.yaml b/dataset_info/Galaxea_R1_Lite_pour_water.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f35703ecc2e11753e0753dd3d60af0b9b53f3c34 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_pour_water.yaml @@ -0,0 +1,579 @@ +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 +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_table + level1: furniture + level2: white_table + 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 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: Pour water into 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: Pick up 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: Pick up the gray plastic cup with right gripper + subtask_index: 21 +- subtask: Grasp the green cup with the right gripper + subtask_index: 22 +- subtask: Pick up the blue plastic cup with left gripper + subtask_index: 23 +- subtask: Grasp the white cup with the left gripper + subtask_index: 24 +- subtask: Pour water from white cup to green cup with the left gripper + subtask_index: 25 +- subtask: Pour water from blue cup to white cup with the right gripper + subtask_index: 26 +- subtask: Place the blue plastic cup on the table with right gripper + subtask_index: 27 +- subtask: Place the gray plastic cup on the table with right gripper + subtask_index: 28 +- subtask: Pour water from white cup to blue cup with the left gripper + subtask_index: 29 +- subtask: Right gripper + subtask_index: 30 +- subtask: Place the green plastic cup on the table with left gripper + subtask_index: 31 +- subtask: Pour water from green cup to blue cup with the right gripper + subtask_index: 32 +- subtask: Place the green plastic cup on the table with right gripper + subtask_index: 33 +- subtask: Grasp the blue cup with the right gripper + subtask_index: 34 +- subtask: Pour water from green cup to blue cup with the left gripper + subtask_index: 35 +- subtask: Place the green cup with the right gripper + subtask_index: 36 +- subtask: Place the green cup with the left gripper + subtask_index: 37 +- subtask: End + subtask_index: 38 +- subtask: Pour water from green cup to white cup with the right gripper + subtask_index: 39 +- subtask: Place the blue cup with the left gripper + subtask_index: 40 +- subtask: Pour water from green cup to white cup with the left gripper + subtask_index: 41 +- subtask: Pour water into the green plastic cup with left gripper + subtask_index: 42 +- subtask: Pour water into the gray plastic cup with right gripper + subtask_index: 43 +- subtask: Pour water into the gray plastic cup with left gripper + subtask_index: 44 +- subtask: 'null' + subtask_index: 45 +atomic_actions: +- grasp +- pick +- place +- pour +robot_name: +- Galaxea_R1_Lite +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_left_rgb +- cam_head_right_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_left_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_head_right_rgb: dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, + pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=360x640x3, resolution=640x360, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: end_rotation_dim +end_translation_dim: end_translation_dim +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 100 + total_frames: 43201 + fps: 30 + total_tasks: 46 + total_videos: 400 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 932.69 MB +frame_num: 43201 +dataset_size: 932.69 MB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_pour_water_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (88 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_left_rgb + + | |-- observation.images.cam_head_right_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:99 +features: + observation.images.cam_head_left_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_head_right_rgb: + dtype: video + shape: + - 720 + - 1280 + - 3 + names: + - height + - width + - channels + info: + video.height: 720 + video.width: 1280 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 360 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 360 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + action: + dtype: float32 + shape: + - 14 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - left_gripper_open + - right_gripper_open + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + LeRobot Framework: https://github.com/huggingface/lerobot + + ' +version_info: Initial Release +data_path: data/chunk-{id}/episode_{id}.parquet +video_path: videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id} +video_url: videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4 diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_blue_plate.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_blue_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a5bd60f64feffae089c8d290b5db5484bb0e0fe1 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_storage_object_blue_plate.yaml @@ -0,0 +1,802 @@ +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_blue_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: blue_plate + level1: plates + level2: blue_plate + 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: cookware + 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(slim_can) + level1: beverages + level2: coke(slim_can) + 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: rulers + level2: compass + level3: null + level4: null + level5: null +- object_name: block_pillar + level1: building_blocks + level2: block_pillar + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: spoons_and_spatulas + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: eraser + level1: erasers + 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_chemical_products + 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_chemical_products + 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 blue plate. +sub_tasks: +- subtask: Place the shower sphere on the blue plate with the left gripper + subtask_index: 0 +- subtask: Place the round wooden block on the blue plate with the right 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 soft facial cleanser on the blue plate with the right gripper + subtask_index: 4 +- subtask: Place the potato chips on the blue plate with the right gripper + subtask_index: 5 +- subtask: Grasp the Itchy scratcher with the right gripper + subtask_index: 6 +- subtask: Place the duck toy on the blue plate with the right gripper + subtask_index: 7 +- subtask: Grasp the potato chips with the right gripper + subtask_index: 8 +- subtask: Place the tin on the blue plate with the left gripper + subtask_index: 9 +- subtask: Grasp the banana with the left gripper + subtask_index: 10 +- subtask: Place the chocolate cake on the blue plate with the right gripper + subtask_index: 11 +- subtask: Place the blue cup on the blue plate with the right gripper + subtask_index: 12 +- subtask: Place the blue pot on the blue plate with the left gripper + subtask_index: 13 +- subtask: Place the tape on the blue plate with the left gripper + subtask_index: 14 +- subtask: Grasp the compasses with the right gripper + subtask_index: 15 +- subtask: Grasp the duck toy with the left gripper + subtask_index: 16 +- subtask: Place the blackboard erasure on the blue plate with the right gripper + subtask_index: 17 +- subtask: Place the tin on the blue plate with the right gripper + subtask_index: 18 +- subtask: Grasp the blue cup with the left gripper + subtask_index: 19 +- subtask: Grasp the square chewing gum with the left gripper + subtask_index: 20 +- subtask: Grasp the chocolate cake with the right gripper + subtask_index: 21 +- subtask: Grasp the shower sphere with the left gripper + subtask_index: 22 +- subtask: Place the compasses on the blue plate with the right gripper + subtask_index: 23 +- subtask: Grasp the plugboard with the right gripper + subtask_index: 24 +- subtask: Grasp the yogurt with the right gripper + subtask_index: 25 +- subtask: Place the round wooden block on the blue plate with the left gripper + subtask_index: 26 +- subtask: Place the banana on the blue plate with the left gripper + subtask_index: 27 +- subtask: Grasp the tin with the left gripper + subtask_index: 28 +- subtask: Grasp the brown towel with the left gripper + subtask_index: 29 +- subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 30 +- subtask: Place the Itchy scratcher on the blue plate with the right gripper + subtask_index: 31 +- subtask: Grasp the chocolate with the right gripper + subtask_index: 32 +- subtask: Grasp the peach with the right gripper + subtask_index: 33 +- subtask: Grasp the brown towel with the right gripper + subtask_index: 34 +- subtask: Place the coke on the blue plate with the left gripper + subtask_index: 35 +- subtask: Grasp the hard facial cleanser with the right gripper + subtask_index: 36 +- subtask: Place the compasses on the blue plate with the left gripper + subtask_index: 37 +- subtask: Place the hard facial cleanser on the blue plate with the left gripper + subtask_index: 38 +- subtask: Place the yogurt on the blue plate with the right gripper + subtask_index: 39 +- subtask: Grasp the peach with the left gripper + subtask_index: 40 +- subtask: Place the square wooden block on the blue plate with the right gripper + subtask_index: 41 +- subtask: Grasp the duck toy with the right gripper + subtask_index: 42 +- subtask: End + subtask_index: 43 +- subtask: Place the duck toy on the blue plate with the left gripper + subtask_index: 44 +- subtask: Grasp the coke with the left gripper + subtask_index: 45 +- subtask: Grasp the round wooden block with the left gripper + subtask_index: 46 +- subtask: Place the round bread on the blue plate with the left gripper + subtask_index: 47 +- subtask: Place the plugboard on the blue plate with the left gripper + subtask_index: 48 +- subtask: Grasp the compasses with the left gripper + subtask_index: 49 +- subtask: Place the green lemon on the blue plate with the left gripper + subtask_index: 50 +- subtask: Place the peach on the blue plate with the right gripper + subtask_index: 51 +- subtask: Place the chocolate on the blue plate with the right gripper + subtask_index: 52 +- subtask: Grasp the blue pot with the right gripper + subtask_index: 53 +- subtask: Grasp the round bread with the right gripper + subtask_index: 54 +- subtask: Grasp the chocolate cake with the left gripper + subtask_index: 55 +- subtask: Place the hard facial cleanser on the blue plate with the right gripper + subtask_index: 56 +- subtask: Place the brown towel on the blue plate with the right gripper + subtask_index: 57 +- subtask: Grasp the tin with the right gripper + subtask_index: 58 +- subtask: Place the blue cup on the blue plate with the left gripper + subtask_index: 59 +- subtask: Grasp the tape with the right gripper + subtask_index: 60 +- subtask: Grasp the coke with the right gripper + subtask_index: 61 +- subtask: Grasp the tape with the left gripper + subtask_index: 62 +- subtask: Grasp the shower sphere with the right gripper + subtask_index: 63 +- subtask: Place the banana on the blue plate with the right gripper + subtask_index: 64 +- subtask: Place the shower sphere on the blue plate with the right gripper + subtask_index: 65 +- subtask: Grasp the blackboard erasure with the right gripper + subtask_index: 66 +- subtask: Place the square chewing gum on the blue plate with the left gripper + subtask_index: 67 +- subtask: Place the plugboard on the blue plate with the right gripper + subtask_index: 68 +- subtask: Place the round bread on the blue plate with the right gripper + subtask_index: 69 +- subtask: Place the chocolate cake on the blue plate with the left gripper + subtask_index: 70 +- subtask: Grasp the round bread with the left gripper + subtask_index: 71 +- subtask: Place the brown towel on the blue plate with the left gripper + subtask_index: 72 +- subtask: Grasp the square wooden block with the left gripper + subtask_index: 73 +- subtask: Place the coke on the blue plate with the right gripper + subtask_index: 74 +- subtask: Grasp the blue cup with the right gripper + subtask_index: 75 +- subtask: Grasp the soft facial cleanser with the right gripper + subtask_index: 76 +- subtask: Place the tape on the blue plate with the right gripper + subtask_index: 77 +- subtask: Grasp the square wooden block with the right gripper + subtask_index: 78 +- subtask: Grasp the green lemon with the left gripper + subtask_index: 79 +- subtask: Place the square wooden block on the blue plate with the left gripper + subtask_index: 80 +- subtask: Place the peach on the blue plate with the left gripper + subtask_index: 81 +- subtask: Grasp the round wooden block with the right gripper + subtask_index: 82 +- subtask: Place the blue pot on the blue plate with the right gripper + subtask_index: 83 +- subtask: Grasp the banana with the right gripper + subtask_index: 84 +- subtask: 'null' + subtask_index: 85 +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: 19084 + fps: 30 + total_tasks: 86 + total_videos: 408 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 740.73 MB +frame_num: 19084 +dataset_size: 740.73 MB +data_structure: 'Galaxea_R1_Lite_storage_object_blue_plate_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 diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_brown_basket.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_brown_basket.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cd2c10883b557ce0e380d736d01de0b4bf765765 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_storage_object_brown_basket.yaml @@ -0,0 +1,806 @@ +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_brown_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: brown_basket + level1: basket + level2: brown_basket + 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: cookware + 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(slim_can) + level1: beverages + level2: coke(slim_can) + 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: rulers + level2: compass + level3: null + level4: null + level5: null +- object_name: block_pillar + level1: building_blocks + level2: block_pillar + level3: null + level4: null + level5: null +- object_name: egg_beater + level1: spoons_and_spatulas + level2: egg_beater + level3: null + level4: null + level5: null +- object_name: eraser + level1: erasers + 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_chemical_products + 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_chemical_products + 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: tape + 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 brown basket. +sub_tasks: +- subtask: Grasp the blue pot with the left gripper + subtask_index: 0 +- subtask: Grasp the plugboard with the left gripper + subtask_index: 1 +- subtask: Place the potato chips into the basket with the left gripper + subtask_index: 2 +- subtask: Place the banana into the basket with the left gripper + subtask_index: 3 +- subtask: Place the coke into the basket with the left gripper + subtask_index: 4 +- subtask: Place the brown towel into the basket with the right gripper + subtask_index: 5 +- subtask: Place the peach slice into the basket with the right gripper + subtask_index: 6 +- subtask: Grasp the banana with the left gripper + subtask_index: 7 +- subtask: Place the round wooden block into the basket with the right gripper + subtask_index: 8 +- subtask: Place the duck toy into the basket with the right gripper + subtask_index: 9 +- subtask: Grasp the compasses with the right gripper + subtask_index: 10 +- subtask: Place the blackboard erasure into the basket with the left gripper + subtask_index: 11 +- subtask: Place the plugboard into the basket with the left gripper + subtask_index: 12 +- subtask: Place the square chewing gum into the basket with the right gripper + subtask_index: 13 +- subtask: Grasp the duck toy with the left gripper + subtask_index: 14 +- subtask: Grasp the cookie with the right gripper + subtask_index: 15 +- subtask: Grasp the blue cup with the left gripper + subtask_index: 16 +- subtask: Place the blackboard erasure into the basket with the right gripper + subtask_index: 17 +- subtask: Place the hard facial cleanser into the basket with the left gripper + subtask_index: 18 +- subtask: Place the round bread into the basket with the left gripper + subtask_index: 19 +- subtask: Place the square wooden block into the basket with the right gripper + subtask_index: 20 +- subtask: Grasp the soft facial cleanser with the left gripper + subtask_index: 21 +- subtask: Place the blue pot into the basket with the left gripper + subtask_index: 22 +- subtask: Grasp the peach slice with the right gripper + subtask_index: 23 +- subtask: Place the soft facial cleanser into the basket with the left gripper + subtask_index: 24 +- subtask: Grasp the square chewing gum with the left gripper + subtask_index: 25 +- subtask: Place the shower sphere into the basket with the left gripper + subtask_index: 26 +- subtask: Place the yogurt into the basket with the right gripper + subtask_index: 27 +- subtask: Grasp the chocolate cake with the right gripper + subtask_index: 28 +- subtask: Place the round wooden block into the basket with the left gripper + subtask_index: 29 +- subtask: Place the back scratcher into the basket with the left gripper + subtask_index: 30 +- subtask: Grasp the shower sphere with the left gripper + subtask_index: 31 +- subtask: Grasp the yogurt with the right gripper + subtask_index: 32 +- subtask: Grasp the tin with the left gripper + subtask_index: 33 +- subtask: Grasp the brown towel with the left gripper + subtask_index: 34 +- subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 35 +- subtask: Grasp the brown towel with the right gripper + subtask_index: 36 +- subtask: Grasp the back scratcher with the left gripper + subtask_index: 37 +- subtask: Place the hard facial cleanser into the basket with the right gripper + subtask_index: 38 +- subtask: Grasp the hard facial cleanser with the right gripper + subtask_index: 39 +- subtask: Place the green lemon into the basket with the right gripper + subtask_index: 40 +- subtask: Place the banana into the basket with the right gripper + subtask_index: 41 +- subtask: Place the compasses into the basket with the right gripper + subtask_index: 42 +- subtask: Place the compasses into the basket with the left gripper + subtask_index: 43 +- subtask: Grasp the green lemon with the right gripper + subtask_index: 44 +- subtask: Grasp the bread slice with the right gripper + subtask_index: 45 +- subtask: Place the duck toy into the basket with the left gripper + subtask_index: 46 +- subtask: Place the chocolate cake into the basket with the right gripper + subtask_index: 47 +- subtask: Place the shower sphere into the basket with the right gripper + subtask_index: 48 +- subtask: Grasp the potato chips with the left gripper + subtask_index: 49 +- subtask: Grasp the duck toy with the right gripper + subtask_index: 50 +- subtask: End + subtask_index: 51 +- subtask: Place the cookie into the basket with the right gripper + subtask_index: 52 +- subtask: Place the tape into the basket with the right gripper + subtask_index: 53 +- subtask: Grasp the blackboard erasure with the left gripper + subtask_index: 54 +- subtask: Place the bread slice into the basket with the left gripper + subtask_index: 55 +- subtask: Grasp the coke with the left gripper + subtask_index: 56 +- subtask: Grasp the round wooden block with the left gripper + subtask_index: 57 +- subtask: Place the tape into the basket with the left gripper + subtask_index: 58 +- subtask: Place the blue cup into the basket with the left gripper + subtask_index: 59 +- subtask: Grasp the compasses with the left gripper + subtask_index: 60 +- subtask: Grasp the blue pot with the right gripper + subtask_index: 61 +- subtask: Grasp the round bread with the right gripper + subtask_index: 62 +- subtask: Grasp the chocolate cake with the left gripper + subtask_index: 63 +- subtask: Place the blue pot into the basket with the right gripper + subtask_index: 64 +- subtask: Grasp the tin with the right gripper + subtask_index: 65 +- subtask: Place the tin into the basket with the left gripper + subtask_index: 66 +- subtask: Grasp the tape with the right gripper + subtask_index: 67 +- subtask: Place the square chewing gum into the basket with the left gripper + subtask_index: 68 +- subtask: Place the bread slice into the basket with the right gripper + subtask_index: 69 +- subtask: Grasp the tape with the left gripper + subtask_index: 70 +- subtask: Place the blue cup into the basket with the right gripper + subtask_index: 71 +- subtask: Grasp the square chewing gum with the right gripper + subtask_index: 72 +- subtask: Grasp the shower sphere with the right gripper + subtask_index: 73 +- subtask: Place the chocolate cake into the basket with the left gripper + subtask_index: 74 +- subtask: Grasp the bread slice with the left gripper + subtask_index: 75 +- subtask: Grasp the blackboard erasure with the right gripper + subtask_index: 76 +- subtask: Place the round bread into the basket with the right gripper + subtask_index: 77 +- subtask: Grasp the round bread with the left gripper + subtask_index: 78 +- subtask: Grasp the square wooden block with the left gripper + subtask_index: 79 +- subtask: Place the brown towel into the basket with the left gripper + subtask_index: 80 +- subtask: Grasp the blue cup with the right gripper + subtask_index: 81 +- subtask: Grasp the square wooden block with the right gripper + subtask_index: 82 +- subtask: Place the square wooden block into the basket with the left gripper + subtask_index: 83 +- subtask: Place the tin into the basket with the right gripper + subtask_index: 84 +- subtask: Grasp the round wooden block with the right gripper + subtask_index: 85 +- subtask: Grasp the banana with the right gripper + subtask_index: 86 +- subtask: 'null' + subtask_index: 87 +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: 18209 + fps: 30 + total_tasks: 88 + total_videos: 408 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 899.78 MB +frame_num: 18209 +dataset_size: 899.78 MB +data_structure: 'Galaxea_R1_Lite_storage_object_brown_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 + + | `-- ... (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 diff --git a/dataset_info/Galaxea_R1_Lite_storage_object_gray_plate.yaml b/dataset_info/Galaxea_R1_Lite_storage_object_gray_plate.yaml new file mode 100644 index 0000000000000000000000000000000000000000..1555e16a31adc1369e09c47386f64050d974fa62 --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_storage_object_gray_plate.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_gray_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: gray_plate + level1: kitchen_supplies + level2: gray_plate + 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: 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_chemical_products + 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_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 gray plate. +sub_tasks: +- subtask: Place the tape on the gray plate with the left gripper + subtask_index: 0 +- subtask: Grasp the blue pot with the left gripper + subtask_index: 1 +- subtask: Grasp the plugboard with the left gripper + subtask_index: 2 +- subtask: Grasp the potato chips with the right gripper + subtask_index: 3 +- subtask: Grasp the banana with the left gripper + subtask_index: 4 +- subtask: Place the round wooden block on the gray plate with the left gripper + subtask_index: 5 +- subtask: Place the peach on the gray plate with the left gripper + subtask_index: 6 +- subtask: Grasp the compasses with the right gripper + subtask_index: 7 +- subtask: Place the square chewing gum on the gray plate with the right gripper + subtask_index: 8 +- subtask: Place the compasses on the gray plate with the right gripper + subtask_index: 9 +- subtask: Place the potato chips on the gray plate with the right gripper + subtask_index: 10 +- subtask: Grasp the duck toy with the left gripper + subtask_index: 11 +- subtask: Place the green lemon on the gray plate with the right gripper + subtask_index: 12 +- subtask: Grasp the blue cup with the left gripper + subtask_index: 13 +- subtask: Place the square wooden block on the gray plate with the left gripper + subtask_index: 14 +- subtask: Grasp the soft facial cleanser with the left gripper + subtask_index: 15 +- subtask: Place the blue cup on the gray plate with the left 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: Grasp the shower sphere with the left gripper + subtask_index: 19 +- subtask: Place the blackboard erasure on the gray plate with the right 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 brown towel with the left gripper + subtask_index: 23 +- subtask: Place the round bread on the gray plate with the right gripper + subtask_index: 24 +- subtask: Grasp the hard facial cleanser with the left gripper + subtask_index: 25 +- subtask: Place the shower sphere on the gray plate with the left gripper + subtask_index: 26 +- subtask: Grasp the chocolate with the right gripper + subtask_index: 27 +- subtask: Place the soft facial cleanser on the gray plate with the left gripper + subtask_index: 28 +- subtask: Grasp the peach with the right gripper + subtask_index: 29 +- subtask: Grasp the brown towel with the right gripper + subtask_index: 30 +- subtask: Place the shower sphere on the gray plate with the right gripper + subtask_index: 31 +- subtask: Grasp the back scratcher with the left gripper + subtask_index: 32 +- subtask: Place the square wooden block on the gray plate with the right gripper + subtask_index: 33 +- subtask: Place the blackboard erasure on the gray plate with the left gripper + subtask_index: 34 +- subtask: Place the yogurt on the gray plate with the right gripper + subtask_index: 35 +- subtask: Grasp the peach with the left gripper + subtask_index: 36 +- subtask: Place the coke on the gray plate with the left gripper + subtask_index: 37 +- subtask: Place the chocolate cake on the gray plate with the right gripper + subtask_index: 38 +- subtask: Place the banana on the gray plate with the left gripper + subtask_index: 39 +- subtask: Grasp the green lemon with the right gripper + subtask_index: 40 +- subtask: Grasp the bread slice with the right gripper + subtask_index: 41 +- subtask: Place the bread slice on the gray plate with the right gripper + subtask_index: 42 +- subtask: Place the brown towel on the gray plate with the right gripper + subtask_index: 43 +- subtask: Grasp the potato chips with the left gripper + subtask_index: 44 +- subtask: Grasp the duck toy with the right gripper + subtask_index: 45 +- subtask: End + subtask_index: 46 +- subtask: Grasp the blackboard erasure with the left gripper + subtask_index: 47 +- subtask: Grasp the coke with the left gripper + subtask_index: 48 +- subtask: Place the plugboard on the gray plate with the right gripper + subtask_index: 49 +- subtask: Place the round bread on the gray plate with the left gripper + subtask_index: 50 +- subtask: Grasp the round wooden block with the left gripper + subtask_index: 51 +- subtask: Grasp the compasses with the left gripper + subtask_index: 52 +- subtask: Place the round wooden block on the gray plate with the right gripper + subtask_index: 53 +- subtask: Place the blue pot on the gray plate with the left gripper + subtask_index: 54 +- subtask: Grasp the blue pot with the right gripper + subtask_index: 55 +- subtask: Grasp the round bread with the right gripper + subtask_index: 56 +- subtask: Grasp the chocolate cake with the left gripper + subtask_index: 57 +- subtask: Place the brown towel on the gray plate with the left gripper + subtask_index: 58 +- subtask: Place the blue pot on the gray plate with the right gripper + subtask_index: 59 +- subtask: Place the compasses on the gray plate with the left gripper + subtask_index: 60 +- subtask: Place the coke on the gray plate with the right gripper + subtask_index: 61 +- subtask: Grasp the tin with the right gripper + subtask_index: 62 +- subtask: Place the square chewing gum on the gray plate with the left gripper + subtask_index: 63 +- subtask: Place the back scratcher on the gray plate with the left gripper + subtask_index: 64 +- subtask: Grasp the tape with the right gripper + subtask_index: 65 +- subtask: Place the tin on the gray plate 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: Grasp the square chewing gum with the right gripper + subtask_index: 69 +- subtask: Place the tape on the gray plate with the right gripper + subtask_index: 70 +- subtask: Place the hard facial cleanser on the gray plate with the left gripper + subtask_index: 71 +- subtask: Grasp the shower sphere with the right gripper + subtask_index: 72 +- subtask: Place the duck toy on the gray plate with the right gripper + subtask_index: 73 +- subtask: Grasp the bread slice with the left gripper + subtask_index: 74 +- subtask: Place the chocolate on the gray plate with the right gripper + subtask_index: 75 +- subtask: Grasp the blackboard erasure with the right gripper + subtask_index: 76 +- subtask: Place the banana on the gray plate with the right gripper + subtask_index: 77 +- subtask: Place the peach on the gray plate with the right gripper + subtask_index: 78 +- subtask: Grasp the round bread with the left gripper + subtask_index: 79 +- subtask: Grasp the square wooden block with the left gripper + subtask_index: 80 +- subtask: Grasp the blue cup with the right gripper + subtask_index: 81 +- subtask: Place the chocolate cake on the gray plate with the left gripper + subtask_index: 82 +- subtask: Place the duck toy on the gray plate with the left gripper + subtask_index: 83 +- subtask: Grasp the square wooden block with the right gripper + subtask_index: 84 +- subtask: Place the plugboard on the gray plate with the left gripper + subtask_index: 85 +- subtask: Place the bread slice on the gray plate with the left gripper + subtask_index: 86 +- subtask: Grasp the round wooden block with the right gripper + subtask_index: 87 +- subtask: Place the potato chips on the gray plate with the left gripper + subtask_index: 88 +- subtask: Grasp the banana with the right gripper + subtask_index: 89 +- subtask: Place the blue cup on the gray plate 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: 20357 + 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: 786.26 MB +frame_num: 20357 +dataset_size: 786.26 MB +data_structure: 'Galaxea_R1_Lite_storage_object_gray_plate_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 diff --git a/dataset_info/Galaxea_R1_Lite_toggle_drawer_yellow.yaml b/dataset_info/Galaxea_R1_Lite_toggle_drawer_yellow.yaml new file mode 100644 index 0000000000000000000000000000000000000000..17ff79e47c826f5371618e8b3da8e0bf2aee111f --- /dev/null +++ b/dataset_info/Galaxea_R1_Lite_toggle_drawer_yellow.yaml @@ -0,0 +1,498 @@ +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_toggle_drawer_yellow +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: yellow_drawer + level1: storage_utensils + level2: yellow_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: +- use the gripper to open the drawer and close the yellow drawer. +sub_tasks: +- subtask: Open the yellow drawer with left gripper + subtask_index: 0 +- subtask: Close the yellow drawer with left gripper + subtask_index: 1 +- subtask: Close the yellow drawer with the right gripper + subtask_index: 2 +- subtask: Open the yellow drawer with the right gripper + subtask_index: 3 +- subtask: Close the yellow drawer with the left gripper + subtask_index: 4 +- subtask: Open the yellow drawer with right gripper + subtask_index: 5 +- subtask: End + subtask_index: 6 +- subtask: Open the yellow drawer with the left gripper + subtask_index: 7 +- subtask: Close the yellow drawer with right gripper + subtask_index: 8 +- subtask: Right gripper + subtask_index: 9 +- subtask: Left gripper + subtask_index: 10 +- subtask: 'null' + subtask_index: 11 +atomic_actions: +- grasp +- push +- pull +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: 97 + total_frames: 37662 + fps: 30 + total_tasks: 12 + total_videos: 388 + total_chunks: 1 + chunks_size: 1000 + state_dim: 14 + action_dim: 14 + camera_views: 4 + dataset_size: 1.57 GB +frame_num: 37662 +dataset_size: 1.57 GB +data_structure: 'Galaxea_R1_Lite_Galaxea_R1_Lite_toggle_drawer_yellow_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 + + | `-- ... (85 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: 0:96 +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 diff --git a/dataset_info/Realman_RMC-AIDA-L_hang_clothes.yaml b/dataset_info/Realman_RMC-AIDA-L_hang_clothes.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2c3733f86d0386ef8f5d10d025c790c0947d5fe9 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_hang_clothes.yaml @@ -0,0 +1,490 @@ +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_hang_clothes +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: clothes_drying_rack + level1: storage_racks + level2: clothes_drying_rack + level3: null + level4: null + level5: null +- object_name: shirt + level1: clothing + level2: shirt + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- the left gripper grasp the clothes and hang them on the clothes rack. +sub_tasks: +- subtask: End + subtask_index: 0 +- subtask: Grasp the hanger with the left gripper + subtask_index: 1 +- subtask: Place the hanger on the rack with the left gripper + subtask_index: 2 +- subtask: 'null' + subtask_index: 3 +atomic_actions: +- 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: 10021 + fps: 30 + total_tasks: 4 + total_videos: 150 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 234.72 MB +frame_num: 10021 +dataset_size: 234.72 MB +data_structure: 'Realman_RMC-AIDA-L_hang_clothes_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 diff --git a/dataset_info/Realman_RMC-AIDA-L_storage_peach_box.yaml b/dataset_info/Realman_RMC-AIDA-L_storage_peach_box.yaml new file mode 100644 index 0000000000000000000000000000000000000000..99db4cf17fd85ce3444dddfeb661623f915c1a50 --- /dev/null +++ b/dataset_info/Realman_RMC-AIDA-L_storage_peach_box.yaml @@ -0,0 +1,502 @@ +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_peach_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: table + level1: furniture + level2: table + level3: null + level4: null + level5: null +- object_name: black_box + level1: home_storage + level2: black_box + level3: null + level4: null + level5: null +- object_name: peach + level1: fruit + level2: peach + 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 open the box, the right gripper grasp the peach on the table and + place it into the box. +sub_tasks: +- subtask: Close the box with the left gripper + subtask_index: 0 +- subtask: Open the lid with the left gripper + subtask_index: 1 +- subtask: End + subtask_index: 2 +- subtask: Grasp the peach with the right gripper + subtask_index: 3 +- subtask: Place the peach into the box with the right gripper + subtask_index: 4 +- subtask: 'null' + subtask_index: 5 +atomic_actions: +- grasp +- pick +- place +robot_name: +- Realman_RMC-AIDA-L +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 118 + total_frames: 78472 + fps: 30 + total_tasks: 6 + total_videos: 354 + total_chunks: 1 + chunks_size: 1000 + state_dim: 28 + action_dim: 28 + camera_views: 3 + dataset_size: 751.68 MB +frame_num: 78472 +dataset_size: 751.68 MB +data_structure: 'Realman_RMC-AIDA-L_storage_peach_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 + + | `-- ... (106 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: 0:117 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 28 + names: + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_arm_joint_7_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_arm_joint_7_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + shape: + - 5 + dtype: int32 + scene_annotation: + names: null + shape: + - 1 + dtype: int32 + eef_sim_pose_state: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_sim_pose_action: + names: + - left_eef_pos_x + - left_eef_pos_y + - left_eef_pos_z + - left_eef_rot_x + - left_eef_rot_y + - left_eef_rot_z + - right_eef_pos_x + - right_eef_pos_y + - right_eef_pos_z + - right_eef_rot_x + - right_eef_rot_y + - right_eef_rot_z + shape: + - 12 + dtype: float32 + eef_direction_state: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_direction_action: + names: + - left_eef_direction + - right_eef_direction + shape: + - 2 + dtype: int32 + eef_velocity_state: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_velocity_action: + names: + - left_eef_velocity + - right_eef_velocity + shape: + - 2 + dtype: int32 + eef_acc_mag_state: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + eef_acc_mag_action: + names: + - left_eef_acc_mag + - right_eef_acc_mag + shape: + - 2 + dtype: int32 + gripper_open_scale_state: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_open_scale_action: + names: + - left_gripper_open_scale + - right_gripper_open_scale + shape: + - 2 + dtype: float32 + gripper_mode_state: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_mode_action: + names: + - left_gripper_mode + - right_gripper_mode + shape: + - 2 + dtype: int32 + gripper_activity_state: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 + gripper_activity_action: + names: + - left_gripper_activity + - right_gripper_activity + shape: + - 2 + dtype: int32 +authors: + contributed_by: + - name: RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI) +dataset_description: This dataset uses an extended format based on LeRobot and is + fully compatible with LeRobot. +homepage: https://flagopen.github.io/RoboCOIN/ +paper: https://arxiv.org/abs/2511.17441 +repository: https://github.com/FlagOpen/RoboCOIN +contact_info: For questions, issues, or feedback regarding this dataset, please contact + us. +support_info: For technical support, please open an issue on our GitHub repository. +license_details: apache-2.0 +citation_bibtex: "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual\ + \ Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng\ + \ Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu\ + \ Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang\ + \ Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin,\ + \ Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng\ + \ Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang\ + \ Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance\ + \ Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang,\ + \ Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie,\ + \ Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao\ + \ Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian,\ + \ Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong,\ + \ He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang,\ + \ Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n\ + \ url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n" +additional_citations: 'If you use this dataset, please also consider citing: + + 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 diff --git a/dataset_info/agilex_cobot_magic_pass_object_left_to_right_green_tablecloth.yaml b/dataset_info/agilex_cobot_magic_pass_object_left_to_right_green_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..2a079b0f47791e98d4436db33c1cfd901f9c7a28 --- /dev/null +++ b/dataset_info/agilex_cobot_magic_pass_object_left_to_right_green_tablecloth.yaml @@ -0,0 +1,651 @@ +task_categories: +- robotics +language: +- en +tags: +- RoboCOIN +- LeRobot +license: apache-2.0 +configs: +- config_name: default + data_files: data/chunk-{id}/episode_{id}.parquet +extra_gated_prompt: By accessing this dataset, you agree to cite the associated paper + in your research/publications—see the "Citation" section for details. You agree + to not use the dataset to conduct experiments that cause harm to human subjects. +extra_gated_fields: + Company/Organization: + type: text + description: e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher" + Country: + type: country + description: e.g., "Germany", "China", "United States" +codebase_version: v2.1 +dataset_name: agilex_cobot_magic_pass_object_left_to_right_green_tablecloth +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null +- object_name: 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: green_table_cloths + level1: laboratory_supplies + 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: +- use the left gripper to pick up the item and transfer it from the left gripper to + the right gripper. +sub_tasks: +- subtask: Pass the purple garbage bag to the right gripper + subtask_index: 0 +- subtask: Pass the eggplant to the right gripper + subtask_index: 1 +- subtask: The right gripper places eggplant on the right side of the table + subtask_index: 2 +- subtask: Use the left gripper to grab the eggplant on the left side of the table + subtask_index: 3 +- subtask: End + subtask_index: 4 +- subtask: Pass the yogurt to the right gripper + subtask_index: 5 +- subtask: The right gripper places banana on the right side of the table + subtask_index: 6 +- subtask: Use the left gripper to grab the cleaning agent on the left side of the + table + subtask_index: 7 +- subtask: Use the left gripper to grab the milk on the left side of the table + subtask_index: 8 +- subtask: Use the left gripper to grab the purple garbage bag on the left side of + the table + subtask_index: 9 +- subtask: Use the left gripper to grab the yogurt on the left side of the table + subtask_index: 10 +- subtask: Use the left gripper to grab the eyeglass case on the left side of the + table + subtask_index: 11 +- subtask: The right gripper places cleaning agent on the right side of the table + subtask_index: 12 +- subtask: Pass the cleaning agent to the right gripper + subtask_index: 13 +- subtask: Use the left gripper to grab the xx on the left side of the table + subtask_index: 14 +- subtask: The right gripper places xx on the right side of the table + subtask_index: 15 +- subtask: The right gripper places yogurt on the right side of the table + subtask_index: 16 +- subtask: The right gripper places Rubik's Cube on the right side of the table + subtask_index: 17 +- subtask: Pass the Rubik's Cube to the right gripper + subtask_index: 18 +- subtask: Pass the eyeglass case to the right gripper + subtask_index: 19 +- subtask: Pass the long bread to the right gripper + subtask_index: 20 +- subtask: The right gripper places grape on the right side of the table + subtask_index: 21 +- subtask: The right gripper places long bread on the right side of the table + subtask_index: 22 +- subtask: Use the left gripper to grab the grape on the left side of the table + subtask_index: 23 +- subtask: Use the left gripper to grab the long bread on the left side of the table + subtask_index: 24 +- subtask: The right gripper places purple garbage bag on the right side of the table + subtask_index: 25 +- subtask: Use the left gripper to grab the Rubik's Cube on the left side of the table + subtask_index: 26 +- subtask: Pass the banana to the right gripper + subtask_index: 27 +- subtask: The right gripper places milk on the right side of the table + subtask_index: 28 +- subtask: Pass the milk to the right gripper + subtask_index: 29 +- subtask: The right gripper places eyeglass case on the right side of the table + subtask_index: 30 +- subtask: Pass the grape to the right gripper + subtask_index: 31 +- subtask: Use the left gripper to grab the banana on the left side of the table + subtask_index: 32 +- subtask: Pass the xx to the right gripper + subtask_index: 33 +- subtask: 'null' + subtask_index: 34 +atomic_actions: +- grasp +- lift +- lower +- handover +- takeover +robot_name: +- agilex_cobot_magic +end_effector_type: two_finger_gripper +tele_type: Due to some reasons, this dataset temporarily cannot provide the teleoperation + type information. +sensor_list: +- cam_head_rgb +- cam_left_wrist_rgb +- cam_right_wrist_rgb +came_info: + cam_head_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p + cam_left_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p + cam_right_wrist_rgb: dtype=video, shape=480x640x3, resolution=640x480, codec=av1, + pix_fmt=yuv420p +depth_enabled: false +coordinate_definition: right-hand-frame +joint_rotation_dim: radian +end_rotation_dim: radian +end_translation_dim: meter +annotations: +- eef_acc_mag_annotation.jsonl +- eef_direction_annotation.jsonl +- eef_velocity_annotation.jsonl +- gripper_activity_annotation.jsonl +- gripper_mode_annotation.jsonl +- scene_annotations.jsonl +- subtask_annotations.jsonl +statistics: + total_episodes: 96 + total_frames: 64995 + fps: 30 + total_tasks: 35 + total_videos: 288 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 795.75 MB +frame_num: 64995 +dataset_size: 795.75 MB +data_structure: 'Agilex_Cobot_Magic_pass_object_left_to_right_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 + + | `-- ... (84 more entries) + + |-- meta + + | |-- episodes.jsonl + + | |-- episodes_stats.jsonl + + | |-- info.json + + | `-- tasks.jsonl + + |-- videos + + | `-- chunk-000 + + | |-- observation.images.cam_head_rgb + + | |-- observation.images.cam_left_wrist_rgb + + | `-- observation.images.cam_right_wrist_rgb + + |-- info.yaml + + `-- README.md' +splits: + train: 0:95 +features: + observation.images.cam_head_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_left_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.images.cam_right_wrist_rgb: + dtype: video + shape: + - 480 + - 640 + - 3 + names: + - height + - width + - channels + info: + video.height: 480 + video.width: 640 + video.codec: av1 + video.pix_fmt: yuv420p + video.is_depth_map: false + video.fps: 30 + video.channels: 3 + has_audio: false + observation.state: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + action: + dtype: float32 + shape: + - 26 + names: + - left_arm_joint_1_rad + - left_arm_joint_2_rad + - left_arm_joint_3_rad + - left_arm_joint_4_rad + - left_arm_joint_5_rad + - left_arm_joint_6_rad + - left_gripper_open + - left_eef_pos_x_m + - left_eef_pos_y_m + - left_eef_pos_z_m + - left_eef_rot_euler_x_rad + - left_eef_rot_euler_y_rad + - left_eef_rot_euler_z_rad + - right_arm_joint_1_rad + - right_arm_joint_2_rad + - right_arm_joint_3_rad + - right_arm_joint_4_rad + - right_arm_joint_5_rad + - right_arm_joint_6_rad + - right_gripper_open + - right_eef_pos_x_m + - right_eef_pos_y_m + - right_eef_pos_z_m + - right_eef_rot_euler_x_rad + - right_eef_rot_euler_y_rad + - right_eef_rot_euler_z_rad + timestamp: + dtype: float32 + shape: + - 1 + names: null + frame_index: + dtype: int64 + shape: + - 1 + names: null + episode_index: + dtype: int64 + shape: + - 1 + names: null + index: + dtype: int64 + shape: + - 1 + names: null + task_index: + dtype: int64 + shape: + - 1 + names: null + subtask_annotation: + names: null + 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 diff --git a/dataset_info/agilex_cobot_magic_pass_object_right_to_left_white_tablecloth.yaml b/dataset_info/agilex_cobot_magic_pass_object_right_to_left_white_tablecloth.yaml new file mode 100644 index 0000000000000000000000000000000000000000..493006cfba9d3a057969595012b0e1dcce7bce24 --- /dev/null +++ b/dataset_info/agilex_cobot_magic_pass_object_right_to_left_white_tablecloth.yaml @@ -0,0 +1,722 @@ +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_white_tablecloth +dataset_uuid: 00000000-0000-0000-0000-000000000000 +scene_type: + level1: commercial_convenience + level2: supermarket + level3: null + level4: null + level5: null +env_type: Due to some reasons, this dataset temporarily cannot provide the environment + type information. +objects: +- object_name: table + level1: home_storage + level2: table + level3: null + level4: null + level5: null +- object_name: ambrosial_yogurt + level1: food + level2: ambrosial_yogurt + level3: null + level4: null + level5: null +- object_name: banana + level1: food + level2: banana + level3: null + level4: null + level5: null +- object_name: long_bread + level1: food + level2: long_bread + level3: null + level4: null + level5: null +- object_name: milk + level1: food + level2: milk + level3: null + level4: null + level5: null +- object_name: yogurt + level1: food + level2: yogurt + level3: null + level4: null + level5: null +- object_name: grape + level1: food + level2: grape + level3: null + level4: null + level5: null +- object_name: ham_sausage + level1: food + level2: ham_sausage + level3: null + level4: null + level5: null +- object_name: eggplant + level1: food + level2: eggplant + level3: null + level4: null + level5: null +- object_name: chewing_gum + level1: food + level2: chewing_gum + level3: null + level4: null + level5: null +- object_name: eyeglass_case + level1: laboratory_supplies + level2: eyeglass_case + level3: null + level4: null + level5: null +- object_name: rubik's_cube + level1: toys + level2: rubik's_cube + level3: null + level4: null + level5: null +- object_name: purple_trash_bag + level1: trash + level2: purple_trash_bag + level3: null + level4: null + level5: null +- object_name: cleanser + level1: daily_necessities + level2: cleanser + level3: null + level4: null + level5: null +- object_name: bathing_in_flowers + level1: daily_necessities + level2: bathing_in_flowers + level3: null + level4: null + level5: null +- object_name: whiteboard_eraser + level1: stationery + level2: whiteboard_eraser + level3: null + level4: null + level5: null +- object_name: candle + level1: daily_necessities + level2: candle + level3: null + level4: null + level5: null +- object_name: white_table_cloths + level1: laboratory_supplies + level2: white_table_cloths + level3: null + level4: null + level5: null +task_operation_type: Due to some reasons, this dataset temporarily cannot provide + the operation type information. +task_instruction: +- use the 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: ' + + Pass the square chewing gun to the left gripper + + ' + subtask_index: 1 +- subtask: The left gripper places Rubik's Cube on the left side of the table + subtask_index: 2 +- subtask: ' + + Pass the yogurt to the left gripper + + ' + subtask_index: 3 +- subtask: The left gripper places grey towel on the left side of the table + subtask_index: 4 +- subtask: End + subtask_index: 5 +- subtask: Use the right gripper to grab the banana on the right side of the table + subtask_index: 6 +- subtask: The left gripper places bananal on the left side of the table + subtask_index: 7 +- subtask: ' + + Pass the shower spherer to the left gripper + + ' + subtask_index: 8 +- subtask: The left gripper places yogurt on the left side of the table + subtask_index: 9 +- subtask: ' + + Pass the eggplant to the left gripper + + ' + subtask_index: 10 +- subtask: ' + + Pass the eyeglass case to the left gripper + + ' + subtask_index: 11 +- subtask: Use the right gripper to grab the banana on the right side of the table + subtask_index: 12 +- subtask: The left gripper places eggplant on the left side of the table + subtask_index: 13 +- subtask: ' + + Pass the eggplant to the left gripper + + ' + subtask_index: 14 +- subtask: Use the right gripper to grab the milk on the right side of the table + subtask_index: 15 +- subtask: The left gripper places banana on the left side of the table + subtask_index: 16 +- subtask: ' + + Pass the Rubik''s Cube to the left gripper + + ' + subtask_index: 17 +- subtask: Use the right gripper to grab the eggplant on the right side of the table + subtask_index: 18 +- subtask: Use the right gripper to grab the square chewing gun on the right side + of the table + subtask_index: 19 +- subtask: Use the right gripper to grab the banana the on right side of the table + subtask_index: 20 +- subtask: Use the right gripper to grab the shower sphere on the right side of the + table + subtask_index: 21 +- subtask: Use the right gripper to grab the bananal on the right side of the table + subtask_index: 22 +- subtask: The left gripper places shower sphere on the left side of the table + subtask_index: 23 +- subtask: ' + + Pass the grey towel to the left gripper + + ' + subtask_index: 24 +- subtask: Use the right gripper to grab the blue blackboard erasure on the right + side of the table + subtask_index: 25 +- subtask: ' + + Pass the banana to the left gripper + + ' + subtask_index: 26 +- subtask: Use the right gripper to grab the purple garbage bag on the right side + of the table + subtask_index: 27 +- subtask: ' + + Pass the purple garbage bag to the left gripper + + ' + subtask_index: 28 +- subtask: The left gripper places blue blackboard erasure on the left side of the + table + subtask_index: 29 +- subtask: Use the right gripper to grab the eggplant on the right side of the table + subtask_index: 30 +- subtask: Use the right gripper to grab the square chewing gum on the right side + of the table + subtask_index: 31 +- subtask: The left gripper places square chewing gun on the left side of the table + subtask_index: 32 +- subtask: ' + + Pass the shower sphere to the left gripper + + ' + subtask_index: 33 +- subtask: The left gripper places eyeglass case on the left side of the table + subtask_index: 34 +- subtask: Use the right gripper to grab the yogurt on the right side of the table + subtask_index: 35 +- subtask: ' + + Pass the blue blackboard erasure to the left gripper + + ' + subtask_index: 36 +- subtask: Use the right gripper to grab the eyeglass case on the right side of the + table + subtask_index: 37 +- subtask: Use the right gripper to grab the Rubik's Cube on the right side of the + table + subtask_index: 38 +- subtask: ' + + Pass the milk to the left gripper + + ' + subtask_index: 39 +- subtask: The left gripper places purple garbage bag on the left side of the table + subtask_index: 40 +- subtask: 'null' + subtask_index: 41 +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: 52998 + fps: 30 + total_tasks: 42 + total_videos: 297 + total_chunks: 1 + chunks_size: 1000 + state_dim: 26 + action_dim: 26 + camera_views: 3 + dataset_size: 508.79 MB +frame_num: 52998 +dataset_size: 508.79 MB +data_structure: 'Agilex_Cobot_Magic_pass_object_right_to_left_white_tablecloth_qced_hardlink/ + + |-- annotations + + | |-- eef_acc_mag_annotation.jsonl + + | |-- eef_direction_annotation.jsonl + + | |-- eef_velocity_annotation.jsonl + + | |-- gripper_activity_annotation.jsonl + + | |-- gripper_mode_annotation.jsonl + + | |-- scene_annotations.jsonl + + | `-- subtask_annotations.jsonl + + |-- data + + | `-- chunk-000 + + | |-- episode_000000.parquet + + | |-- episode_000001.parquet + + | |-- episode_000002.parquet + + | |-- episode_000003.parquet + + | |-- episode_000004.parquet + + | |-- episode_000005.parquet + + | |-- episode_000006.parquet + + | |-- episode_000007.parquet + + | |-- episode_000008.parquet + + | |-- episode_000009.parquet + + | |-- episode_000010.parquet + + | `-- episode_000011.parquet + + | `-- ... (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 diff --git a/info/consolidated_datasets.json b/info/consolidated_datasets.json index 7f8ecb04f9bc97f27e9bfef31f413beaf4b67bea..ae50c531d02a125f5d4fc00c012a93c882cec572 100644 --- a/info/consolidated_datasets.json +++ b/info/consolidated_datasets.json @@ -1,4 +1,531 @@ { + "Agilex_Cobot_Magic_fold_towel_blue_tray": { + "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_towel_blue_tray", + "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": "green_tray", + "level1": "kitchen_supplies", + "level2": "green_tray", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "blue_square_towel", + "level1": "daily_necessities", + "level2": "blue_square_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": [ + "use both grippers to hold the edge of the towel and fold it forward.,use the right gripper to hold the right edge and fold it again,use a gripper to place the folded towel on the tray." + ], + "sub_tasks": [ + { + "subtask": "Fold the blue white towel upwards with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Fold the blue white towel upwards with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the blue white towel with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Fold the blue white towel from right to left with right gripper", + "subtask_index": 3 + }, + { + "subtask": "Grasp the blue white towel with the left gripper", + "subtask_index": 4 + }, + { + "subtask": "end", + "subtask_index": 5 + }, + { + "subtask": "Place the folded gray towel on the green tray with the right gripper", + "subtask_index": 6 + }, + { + "subtask": "null", + "subtask_index": 7 + } + ], + "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": 63491, + "fps": 30, + "total_tasks": 8, + "total_videos": 150, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "935.31 MB" + }, + "frame_num": 63491, + "dataset_size": "935.31 MB", + "data_structure": "Agilex_Cobot_Magic_fold_towel_blue_tray_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, "AgiBot-g1_right_capture_part": { "path": "AgiBot-g1_right_capture_part", "dataset_name": "right_capture_part", @@ -739,7 +1266,7 @@ "data_schema": "Galbot_g1_steamer_storage_baozi_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "Galbot_g1_steamer_storage_baozi_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_storage_cake_ice_cream": { + "Airbot_MMK2_storage_hourglass": { "task_categories": [ "robotics" ], @@ -769,11 +1296,498 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_cake_ice_cream", + "dataset_name": "Airbot_MMK2_storage_hourglass", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { "level1": "household", - "level2": "kitchen", + "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": "hourglass", + "level1": "toys", + "level2": "hourglass", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "storage_box", + "level1": "laboratory_supplies", + "level2": "storage_box", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "place the hourglass in the storage box with right hand." + ], + "sub_tasks": [ + { + "subtask": "End", + "subtask_index": 0 + }, + { + "subtask": "Place the hourglass into the right compartment of the storage box with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the hourglass 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": 50, + "total_frames": 7471, + "fps": 30, + "total_tasks": 4, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "236.31 MB" + }, + "frame_num": 7471, + "dataset_size": "236.31 MB", + "data_structure": "Airbot_MMK2_storage_hourglass_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Airbot_MMK2_storage_cake_ice_cream": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_storage_cake_ice_cream", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "kitchen", "level3": null, "level4": null, "level5": null @@ -1466,570 +2480,605 @@ "data_schema": "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", "structure": "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_pick_plastic_bowl_ac": { - "path": "G1edu-u3_pick_plastic_bowl_ac", - "dataset_name": "pick_plastic_bowl_ac", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" + "Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick" + "language": [ + "en" ], - "tasks": "Grasp the plastic bowl and lift it to the center of the view with left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ { - "object_name": "plastic_bowl", - "level1": "container", - "level2": "plastic_bowl", - "level3": null, - "level4": null, - "level5": null + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" } ], - "operation_platform_height": null, - "frame_range": "0-12573", - "dataset_size": "175.8MB", - "statistics": { - "total_episodes": 32, - "total_frames": 12573, - "total_tasks": 1, - "total_videos": 32, - "total_chunks": 1, - "chunks_size": 32, - "fps": 30 - }, - "dataset_uuid": "8b3bc197-5de6-4704-a513-0c7fbf7f29ed", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the plastic bowl and lift it to the center of the view with left gripper", - "End", - "Grasp the plastic bowl and lift it to the center of the view with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "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\"" + } }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "office & workspace", + "level2": "office", + "level3": null, + "level4": null, + "level5": null }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_mobile_accessory_storage_box_e": { - "path": "AgiBot-g1_mobile_accessory_storage_box_e", - "dataset_name": "mobile_accessory_storage_box_e", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Place the mouse and power cord into the box.", + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { "object_name": "table", - "level1": "furniture", + "level1": "home_storage", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "container", - "level2": "box", + "object_name": "deli_water-based_marker", + "level1": "stationery", + "level2": "deli_water-based_marker", "level3": null, "level4": null, "level5": null }, { - "object_name": "accessories", - "level1": "electronic_products", - "level2": "accessories", + "object_name": "notebook", + "level1": "stationery", + "level2": "notebook", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-29872", - "dataset_size": "14.5GB", - "statistics": { - "total_episodes": 61, - "total_frames": 29872, - "total_tasks": 1, - "total_videos": 488, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "76ecd9c6-025c-4c06-abcc-de49bc084c86", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the mouse and power cord into the box.", - "Simultaneously pick up the mouse and power cord from the accessory packaging area.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_picks_up_cardboard_box": { - "path": "AgiBot-g1_picks_up_cardboard_box", - "dataset_name": "picks_up_cardboard_box", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pick up the mouse and power cord box.", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "mouse", + "level1": "appliances", + "level2": "mouse", "level3": null, "level4": null, "level5": null }, { - "object_name": "carton", - "level1": "laboratory_supplies", - "level2": "carton", + "object_name": "mouse_pad", + "level1": "appliances", + "level2": "mouse_pad", "level3": null, "level4": null, "level5": null }, { - "object_name": "paper_box", + "object_name": "khaki_table_cloths", "level1": "laboratory_supplies", - "level2": "paper_box", - "level3": null, - "level4": null, - "level5": null + "level2": "khaki_table_cloths" } ], - "operation_platform_height": null, - "frame_range": "0-149409", - "dataset_size": "59.5GB", - "statistics": { - "total_episodes": 277, - "total_frames": 149409, - "total_tasks": 1, - "total_videos": 2216, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "d4888396-b8d0-45fe-9fdc-8f4e9300b1fd", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "the left gripper organize the pen on the notebook then the right gripper organize the mouse on the mouse pad." ], "sub_tasks": [ - "Pick up the mouse and power cord box.", - "End", - "Place the paper box in the another big box", - "Grasp the paper box", - "Place the mouse and power cord box into the case.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_moving_parts_g": { - "path": "leju_robot_moving_parts_g", - "dataset_name": "moving_parts_g", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Insert the small component into the corresponding slot on the workbench.", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the mouse with the left gripper", + "subtask_index": 0 }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the marker with the left gripper", + "subtask_index": 1 }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-225345", - "dataset_size": "13.8GB", - "statistics": { - "total_episodes": 157, - "total_frames": 225345, - "total_tasks": 1, - "total_videos": 471, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "4e06a288-ac8c-4c85-a86b-027159d4add0", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Insert the small component into the corresponding slot on the workbench.", - "Move to the table behind body", - "Grasp the white part with right gripper", - "Move the small component to the workbench.", - "Place the white part on the table with left gripper", - "Place the white part on the table with right gripper", - "End", - "Pick up the small component from the shelf.", - "Return to the initial position at the workbench.", - "Grasp the white part with left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_little_tray_storage_lemon_b": { - "path": "G1edu-u3_little_tray_storage_lemon_b", - "dataset_name": "little_tray_storage_lemon_b", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "pick", - "place" - ], - "tasks": "Place the lemon on the orange plate with right gripper", - "objects": [ + "subtask": "Grasp the mouse with the right gripper", + "subtask_index": 2 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the mouse on the mouse pad with the right gripper", + "subtask_index": 3 }, { - "object_name": "tray", - "level1": "container", - "level2": "tray", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the marker on the notebook with the right gripper", + "subtask_index": 4 }, { - "object_name": "lemon", - "level1": "fruits", - "level2": "lemon", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the marker with the right gripper", + "subtask_index": 5 + }, + { + "subtask": "end", + "subtask_index": 6 + }, + { + "subtask": "Place the mouse on the mouse pad with the left gripper", + "subtask_index": 7 + }, + { + "subtask": "Place the marker on the notebook with the left gripper", + "subtask_index": 8 + }, + { + "subtask": "null", + "subtask_index": 9 } ], - "operation_platform_height": null, - "frame_range": "0-3028", - "dataset_size": "39.3MB", - "statistics": { - "total_episodes": 14, - "total_frames": 3028, - "total_tasks": 1, - "total_videos": 14, - "total_chunks": 1, - "chunks_size": 14, - "fps": 30 - }, - "dataset_uuid": "7150e18c-8f80-44c3-934f-40eac73ed334", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "lift", + "lower" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Agilex_Cobot_Magic" ], - "sub_tasks": [ - "Place the lemon on the orange plate with right gripper", - "End", - "Place the lemon on the orange plate with left gripper", - "null" + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "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": 30, + "total_frames": 20954, + "fps": 30, + "total_tasks": 10, + "total_videos": 90, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "347.28 MB" + }, + "frame_num": 20954, + "dataset_size": "347.28 MB", + "data_structure": "Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (18 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:29" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "R1_Lite_make_the_bed": { - "path": "R1_Lite_make_the_bed", - "dataset_name": "make_the_bed", + "G1edu-u3_pick_plastic_bowl_ac": { + "path": "G1edu-u3_pick_plastic_bowl_ac", + "dataset_name": "pick_plastic_bowl_ac", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place", - "pull" + "pick" ], - "tasks": "Hold the folded corner of the quilt", + "tasks": "Grasp the plastic bowl and lift it to the center of the view with left gripper", "objects": [ { - "object_name": "quilt", - "level1": "clothing", - "level2": "quilt", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "bed", - "level1": "furniture", - "level2": "bed", + "object_name": "plastic_bowl", + "level1": "container", + "level2": "plastic_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-240837", - "dataset_size": "6.0GB", + "frame_range": "0-12573", + "dataset_size": "175.8MB", "statistics": { - "total_episodes": 100, - "total_frames": 240837, + "total_episodes": 32, + "total_frames": 12573, "total_tasks": 1, - "total_videos": 300, + "total_videos": 32, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 32, "fps": 30 }, - "dataset_uuid": "ea93521a-043d-4af7-ac4e-5e26fa0d46ef", + "dataset_uuid": "8b3bc197-5de6-4704-a513-0c7fbf7f29ed", "language": [ "en", "zh" @@ -2038,10 +3087,9 @@ "robotics" ], "sub_tasks": [ - "Hold the folded corner of the quilt", + "Grasp the plastic bowl and lift it to the center of the view with left gripper", "End", - "abnormal", - "Flatten the corners of the folded blanket", + "Grasp the plastic bowl and lift it to the center of the view with right gripper", "null" ], "annotations": { @@ -2079,12 +3127,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_make_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_make_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_plastic_bowl_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Split_aloha_basket_storage_peach": { - "path": "Split_aloha_basket_storage_peach", - "dataset_name": "basket_storage_peach", + "AgiBot-g1_mobile_accessory_storage_box_e": { + "path": "AgiBot-g1_mobile_accessory_storage_box_e", + "dataset_name": "mobile_accessory_storage_box_e", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -2095,7 +3143,7 @@ "place", "pick" ], - "tasks": "Pick up the peach", + "tasks": "Place the mouse and power cord into the box.", "objects": [ { "object_name": "table", @@ -2106,35 +3154,35 @@ "level5": null }, { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", + "object_name": "box", + "level1": "container", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", + "object_name": "accessories", + "level1": "electronic_products", + "level2": "accessories", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-392136", - "dataset_size": "5.0GB", + "operation_platform_height": null, + "frame_range": "0-29872", + "dataset_size": "14.5GB", "statistics": { - "total_episodes": 994, - "total_frames": 392136, + "total_episodes": 61, + "total_frames": 29872, "total_tasks": 1, - "total_videos": 2982, + "total_videos": 488, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "aa4c76bf-e637-4da0-a962-fc0c3caea73c", + "dataset_uuid": "76ecd9c6-025c-4c06-abcc-de49bc084c86", "language": [ "en", "zh" @@ -2143,16 +3191,8 @@ "robotics" ], "sub_tasks": [ - "Pick up the peach", - "Place the peach in the basket with right gripper", - "place the peach into the basket", - "Static", - "Move the basket to the center of view", - "Grasp the peach with right gripper", - "Grasp the basket with left gripper", - "Place the basket in the center of view with left gripper", - "Abnormal", - "End", + "Place the mouse and power cord into the box.", + "Simultaneously pick up the mouse and power cord from the accessory packaging area.", "null" ], "annotations": { @@ -2190,23 +3230,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Split_aloha_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_mobile_accessory_storage_box_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_move_the_position_of_the_soda": { - "path": "R1_Lite_move_the_position_of_the_soda", - "dataset_name": "move_the_position_of_the_soda", + "AgiBot-g1_picks_up_cardboard_box": { + "path": "AgiBot-g1_picks_up_cardboard_box", + "dataset_name": "picks_up_cardboard_box", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "place", + "grasp", "pick", - "grasp" + "place" ], - "tasks": "End", + "tasks": "Pick up the mouse and power cord box.", "objects": [ { "object_name": "table", @@ -2217,355 +3257,35 @@ "level5": null }, { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bath_ball", - "level1": "daily_necessities", - "level2": "bath_ball", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "can", - "level1": "container", - "level2": "can", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "hard_cleanser", - "level1": "daily_necessities", - "level2": "hard_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peeler", - "level1": "tool", - "level2": "peeler", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "block", - "level1": "toy", - "level2": "block", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "duck", - "level1": "toy", - "level2": "duck", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soap", - "level1": "daily_necessities", - "level2": "soap", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "basket", - "level1": "container", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cola", - "level1": "drink", - "level2": "cola", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "detergent", - "level1": "daily_necessities", - "level2": "detergent", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_beater", - "level1": "electrical_appliances", - "level2": "egg_beater", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "marker", - "level1": "office_supplies", - "level2": "marker", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rubiks_cube", - "level1": "toy", - "level2": "rubiks_cube", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread_slice", - "level1": "food", - "level2": "bread_slice", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "brush", - "level1": "daily_necessities", - "level2": "brush", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yogurt", - "level1": "drink", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "power_strip", - "level1": "electric_appliance", - "level2": "power_strip", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "milk", - "level1": "drink", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soda", - "level1": "drink", - "level2": "soda", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lime", - "level1": "fruit", - "level2": "lime", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "coffee_capsule", - "level1": "drink", - "level2": "coffee_capsule", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "dish", - "level1": "container", - "level2": "dish", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glass", - "level1": "furniture", - "level2": "glass", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "gum", - "level1": "daily_necessities", - "level2": "gum", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tape", - "level1": "daily_necessities", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soft_cleanser", - "level1": "daily_necessities", - "level2": "soft_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chips", - "level1": "food", - "level2": "chips", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", + "object_name": "carton", + "level1": "laboratory_supplies", + "level2": "carton", "level3": null, "level4": null, "level5": null }, { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", + "object_name": "paper_box", + "level1": "laboratory_supplies", + "level2": "paper_box", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-17198", - "dataset_size": "661.0MB", + "operation_platform_height": null, + "frame_range": "0-149409", + "dataset_size": "59.5GB", "statistics": { - "total_episodes": 62, - "total_frames": 17198, + "total_episodes": 277, + "total_frames": 149409, "total_tasks": 1, - "total_videos": 248, + "total_videos": 2216, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "776f8ed0-31b4-46e5-adbd-d905da18638c", + "dataset_uuid": "d4888396-b8d0-45fe-9fdc-8f4e9300b1fd", "language": [ "en", "zh" @@ -2574,12 +3294,11 @@ "robotics" ], "sub_tasks": [ + "Pick up the mouse and power cord box.", "End", - "Grasp the soda water with right gripper", - "Place the soda water on the table with right gripper", - "Place the soda water on the table with left gripper", - "Static", - "Grasp the soda water with left gripper", + "Place the paper box in the another big box", + "Grasp the paper box", + "Place the mouse and power cord box into the case.", "null" ], "annotations": { @@ -2617,15 +3336,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_soda_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_soda_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_picks_up_cardboard_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_switch_labels": { - "path": "R1_Lite_switch_labels", - "dataset_name": "switch_labels", + "leju_robot_moving_parts_g": { + "path": "leju_robot_moving_parts_g", + "dataset_name": "moving_parts_g", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ @@ -2633,46 +3352,46 @@ "pick", "place" ], - "tasks": "End", + "tasks": "Insert the small component into the corresponding slot on the workbench.", "objects": [ { - "object_name": "the_door", + "object_name": "table", "level1": "furniture", - "level2": "the_door", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "door_handle", - "level1": "accessories", - "level2": "door_handle", + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", "level3": null, "level4": null, "level5": null }, { - "object_name": "tag", - "level1": "tools", - "level2": "tag", + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-171139", - "dataset_size": "7.3GB", + "frame_range": "0-225345", + "dataset_size": "13.8GB", "statistics": { - "total_episodes": 99, - "total_frames": 171139, + "total_episodes": 157, + "total_frames": 225345, "total_tasks": 1, - "total_videos": 297, + "total_videos": 471, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "e32d8bbd-d12b-45e0-9c3f-932e67428f3d", + "dataset_uuid": "4e06a288-ac8c-4c85-a86b-027159d4add0", "language": [ "en", "zh" @@ -2681,14 +3400,16 @@ "robotics" ], "sub_tasks": [ + "Insert the small component into the corresponding slot on the workbench.", + "Move to the table behind body", + "Grasp the white part with right gripper", + "Move the small component to the workbench.", + "Place the white part on the table with left gripper", + "Place the white part on the table with right gripper", "End", - "abnormal", - "Take down the sign", - "Hang the lable on the doorknob with right gripper", - "Grasp the lable with left gripper", - "Pass the lable from the left gripper to the right gripper", - "Hang the sign back with the other side facing out", - "Hand it to the other hand", + "Pick up the small component from the shelf.", + "Return to the initial position at the workbench.", + "Grasp the white part with left gripper", "null" ], "annotations": { @@ -2726,23 +3447,22 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_switch_labels_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_switch_labels_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_moving_parts_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_cake_storage": { - "path": "AIRBOT_MMK2_cake_storage", - "dataset_name": "cake_storage", + "G1edu-u3_little_tray_storage_lemon_b": { + "path": "G1edu-u3_little_tray_storage_lemon_b", + "dataset_name": "little_tray_storage_lemon_b", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ - "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "End", + "tasks": "Place the lemon on the orange plate with right gripper", "objects": [ { "object_name": "table", @@ -2753,35 +3473,35 @@ "level5": null }, { - "object_name": "cake", - "level1": "food", - "level2": "cake", + "object_name": "tray", + "level1": "container", + "level2": "tray", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "lemon", + "level1": "fruits", + "level2": "lemon", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-4691", - "dataset_size": "198.5MB", + "operation_platform_height": null, + "frame_range": "0-3028", + "dataset_size": "39.3MB", "statistics": { - "total_episodes": 50, - "total_frames": 4691, + "total_episodes": 14, + "total_frames": 3028, "total_tasks": 1, - "total_videos": 200, + "total_videos": 14, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 14, "fps": 30 }, - "dataset_uuid": "ac6999bc-70a1-42a2-9b0c-7da1a22d297c", + "dataset_uuid": "7150e18c-8f80-44c3-934f-40eac73ed334", "language": [ "en", "zh" @@ -2790,12 +3510,9 @@ "robotics" ], "sub_tasks": [ + "Place the lemon on the orange plate with right gripper", "End", - "Grasp the cake with the left gripper", - "Place the cake on the white basket with the left gripper", - "Grasp the cake with the right gripper", - "Place the cake on the white basket with the right gripper", - "Static", + "Place the lemon on the orange plate with left gripper", "null" ], "annotations": { @@ -2833,520 +3550,648 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_cake_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_cake_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_little_tray_storage_lemon_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_pour_BBs": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" + "R1_Lite_make_the_bed": { + "path": "R1_Lite_make_the_bed", + "dataset_name": "make_the_bed", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "tags": [ - "RoboCOIN", - "LeRobot" + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "pull" ], - "license": "apache-2.0", - "configs": [ + "tasks": "Hold the folded corner of the quilt", + "objects": [ { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" + "object_name": "quilt", + "level1": "clothing", + "level2": "quilt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bed", + "level1": "furniture", + "level2": "bed", + "level3": null, + "level4": null, + "level5": null } ], - "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\"" - } + "operation_platform_height": null, + "frame_range": "0-240837", + "dataset_size": "6.0GB", + "statistics": { + "total_episodes": 100, + "total_frames": 240837, + "total_tasks": 1, + "total_videos": 300, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_pour_BBs", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "scene_level1", - "level2": "scene_level2", - "level3": null, - "level4": null, - "level5": null + "dataset_uuid": "ea93521a-043d-4af7-ac4e-5e26fa0d46ef", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Hold the folded corner of the quilt", + "End", + "abnormal", + "Flatten the corners of the folded blanket", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_make_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_make_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Split_aloha_basket_storage_peach": { + "path": "Split_aloha_basket_storage_peach", + "dataset_name": "basket_storage_peach", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Pick up the peach", "objects": [ { - "object_name": "paper_cup", - "level1": "kitchen_supplies", - "level2": "paper_cup", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "kitchen_supplies", - "level2": "bowl", + "object_name": "peach", + "level1": "fruit", + "level2": "peach", "level3": null, "level4": null, "level5": null }, { - "object_name": "bullet", - "level1": "toys", - "level2": "bullet", + "object_name": "basket", + "level1": "container", + "level2": "basket", "level3": null, "level4": null, "level5": null } ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "grab the paper cup and pour the bullets inside into the bowl." + "operation_platform_height": 77.2, + "frame_range": "0-392136", + "dataset_size": "5.0GB", + "statistics": { + "total_episodes": 994, + "total_frames": 392136, + "total_tasks": 1, + "total_videos": 2982, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "aa4c76bf-e637-4da0-a962-fc0c3caea73c", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" ], "sub_tasks": [ + "Pick up the peach", + "Place the peach in the basket with right gripper", + "place the peach into the basket", + "Static", + "Move the basket to the center of view", + "Grasp the peach with right gripper", + "Grasp the basket with left gripper", + "Place the basket in the center of view with left gripper", + "Abnormal", + "End", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Split_aloha_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_basket_storage_peach_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_move_the_position_of_the_soda": { + "path": "R1_Lite_move_the_position_of_the_soda", + "dataset_name": "move_the_position_of_the_soda", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "End", + "objects": [ { - "subtask": "Grasp the paper cup containing bullets with right gripper", - "subtask_index": 0 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "End", - "subtask_index": 1 + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Abnormal", - "subtask_index": 2 + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Static", - "subtask_index": 3 + "object_name": "bath_ball", + "level1": "daily_necessities", + "level2": "bath_ball", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Pour the bullets from the paper cup into the bowl with right gripper", - "subtask_index": 4 + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the paper cup on the table with right gripper", - "subtask_index": 5 + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 6 - } - ], - "atomic_actions": [ - "grasp", - "pick", - "place", - "pour" - ], - "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": 19529, - "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": "726.21 MB" - }, - "frame_num": 19529, - "dataset_size": "726.21 MB", - "data_structure": "Airbot_MMK2_pour_BBs_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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 - } + "object_name": "can", + "level1": "container", + "level2": "can", + "level3": null, + "level4": null, + "level5": null }, - "observation.images.cam_left_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } + { + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", + "level3": null, + "level4": null, + "level5": null }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } + { + "object_name": "hard_cleanser", + "level1": "daily_necessities", + "level2": "hard_cleanser", + "level3": null, + "level4": null, + "level5": null }, - "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 - } + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null }, - "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" - ] + { + "object_name": "peeler", + "level1": "tool", + "level2": "peeler", + "level3": null, + "level4": null, + "level5": null }, - "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" - ] + { + "object_name": "block", + "level1": "toy", + "level2": "block", + "level3": null, + "level4": null, + "level5": null }, - "timestamp": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": null + { + "object_name": "duck", + "level1": "toy", + "level2": "duck", + "level3": null, + "level4": null, + "level5": null }, - "frame_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null + { + "object_name": "soap", + "level1": "daily_necessities", + "level2": "soap", + "level3": null, + "level4": null, + "level5": null }, - "episode_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null }, - "index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null }, - "task_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null + { + "object_name": "cola", + "level1": "drink", + "level2": "cola", + "level3": null, + "level4": null, + "level5": null }, - "subtask_annotation": { - "names": null, - "shape": [ - 5 - ], - "dtype": "int32" + { + "object_name": "detergent", + "level1": "daily_necessities", + "level2": "detergent", + "level3": null, + "level4": null, + "level5": null }, - "scene_annotation": { - "names": null, - "shape": [ - 1 - ], - "dtype": "int32" + { + "object_name": "egg_beater", + "level1": "electrical_appliances", + "level2": "egg_beater", + "level3": null, + "level4": null, + "level5": null }, - "eef_sim_pose_state": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null }, - "eef_sim_pose_action": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" + { + "object_name": "orange", + "level1": "fruit", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null }, - "eef_direction_state": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null }, - "eef_direction_action": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "marker", + "level1": "office_supplies", + "level2": "marker", + "level3": null, + "level4": null, + "level5": null }, - "eef_velocity_state": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "rubiks_cube", + "level1": "toy", + "level2": "rubiks_cube", + "level3": null, + "level4": null, + "level5": null }, - "eef_velocity_action": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "bread_slice", + "level1": "food", + "level2": "bread_slice", + "level3": null, + "level4": null, + "level5": null }, - "eef_acc_mag_state": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "brush", + "level1": "daily_necessities", + "level2": "brush", + "level3": null, + "level4": null, + "level5": null }, - "eef_acc_mag_action": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "yogurt", + "level1": "drink", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "power_strip", + "level1": "electric_appliance", + "level2": "power_strip", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "drink", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soda", + "level1": "drink", + "level2": "soda", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lime", + "level1": "fruit", + "level2": "lime", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee_capsule", + "level1": "drink", + "level2": "coffee_capsule", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "dish", + "level1": "container", + "level2": "dish", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glass", + "level1": "furniture", + "level2": "glass", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "gum", + "level1": "daily_necessities", + "level2": "gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape", + "level1": "daily_necessities", + "level2": "tape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soft_cleanser", + "level1": "daily_necessities", + "level2": "soft_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chips", + "level1": "food", + "level2": "chips", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null } + ], + "operation_platform_height": 77.2, + "frame_range": "0-17198", + "dataset_size": "661.0MB", + "statistics": { + "total_episodes": 62, + "total_frames": 17198, + "total_tasks": 1, + "total_videos": 248, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "776f8ed0-31b4-46e5-adbd-d905da18638c", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Grasp the soda water with right gripper", + "Place the soda water on the table with right gripper", + "Place the soda water on the table with left gripper", + "Static", + "Grasp the soda water with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } ] }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_move_the_position_of_the_soda_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_soda_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_take_and_place_the_portable_power_bank": { - "path": "R1_Lite_take_and_place_the_portable_power_bank", - "dataset_name": "take_and_place_the_portable_power_bank", + "R1_Lite_switch_labels": { + "path": "R1_Lite_switch_labels", + "dataset_name": "switch_labels", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -3357,38 +4202,46 @@ "pick", "place" ], - "tasks": "Open the top of the storage box", + "tasks": "End", "objects": [ { - "object_name": "cloth_bag", - "level1": "container", - "level2": "cloth_bag", + "object_name": "the_door", + "level1": "furniture", + "level2": "the_door", "level3": null, "level4": null, "level5": null }, { - "object_name": "portable_power_bank", - "level1": "electronic_equipment", - "level2": "portable_power_bank", + "object_name": "door_handle", + "level1": "accessories", + "level2": "door_handle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tag", + "level1": "tools", + "level2": "tag", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-237234", - "dataset_size": "17.3GB", + "frame_range": "0-171139", + "dataset_size": "7.3GB", "statistics": { - "total_episodes": 110, - "total_frames": 237234, + "total_episodes": 99, + "total_frames": 171139, "total_tasks": 1, - "total_videos": 330, + "total_videos": 297, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "f283fb8d-62de-4238-bb07-bcac110d50bb", + "dataset_uuid": "e32d8bbd-d12b-45e0-9c3f-932e67428f3d", "language": [ "en", "zh" @@ -3397,15 +4250,14 @@ "robotics" ], "sub_tasks": [ - "Open the top of the storage box", - "Release the handle", - "Grip the handle again", "End", "abnormal", - "Lift the black box", - "Grip the handle", - "Place the black box back", - "Close the top of the storage box", + "Take down the sign", + "Hang the lable on the doorknob with right gripper", + "Grasp the lable with left gripper", + "Pass the lable from the left gripper to the right gripper", + "Hang the sign back with the other side facing out", + "Hand it to the other hand", "null" ], "annotations": { @@ -3443,14 +4295,121 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_switch_labels_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_switch_labels_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galaxea_R1_Lite_mix_red_blue_large_test_tube": { - "task_categories": [ - "robotics" + "AIRBOT_MMK2_cake_storage": { + "path": "AIRBOT_MMK2_cake_storage", + "dataset_name": "cake_storage", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" ], - "language": [ + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cake", + "level1": "food", + "level2": "cake", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-4691", + "dataset_size": "198.5MB", + "statistics": { + "total_episodes": 50, + "total_frames": 4691, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ac6999bc-70a1-42a2-9b0c-7da1a22d297c", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Grasp the cake with the left gripper", + "Place the cake on the white basket with the left gripper", + "Grasp the cake with the right gripper", + "Place the cake on the white basket with the right gripper", + "Static", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_cake_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_cake_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_pour_BBs": { + "task_categories": [ + "robotics" + ], + "language": [ "en" ], "tags": [ @@ -3476,11 +4435,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_mix_red_blue_large_test_tube", + "dataset_name": "Airbot_MMK2_pour_BBs", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "office_workspace", - "level2": "office", + "level1": "scene_level1", + "level2": "scene_level2", "level3": null, "level4": null, "level5": null @@ -3488,49 +4447,25 @@ "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", + "object_name": "paper_cup", + "level1": "kitchen_supplies", + "level2": "paper_cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "test_tubes", - "level1": "laboratory_supplies", - "level2": "test_tubes", + "object_name": "bowl", + "level1": "kitchen_supplies", + "level2": "bowl", "level3": null, "level4": null, "level5": null }, { - "object_name": "beaker", - "level1": "holding_utensils", - "level2": "beaker", + "object_name": "bullet", + "level1": "toys", + "level2": "bullet", "level3": null, "level4": null, "level5": null @@ -3538,48 +4473,36 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "pick up the test tube with red pigment and the test tube with blue pigment by grippers and pour them into the beaker." + "grab the paper cup and pour the bullets inside into the bowl." ], "sub_tasks": [ { - "subtask": "Pour the red reagent into the graduated cylinder and place the test tube into the paper cup", + "subtask": "Grasp the paper cup containing bullets with right gripper", "subtask_index": 0 }, { - "subtask": "Grasp the red reagent with the right gripper", + "subtask": "End", "subtask_index": 1 }, { - "subtask": "Pour the blue reagent into the graduated cylinder and place the test tube into the paper cup", + "subtask": "Abnormal", "subtask_index": 2 }, { - "subtask": "Pour the blue reagent into the graduated cylinder with the left gripper", + "subtask": "Static", "subtask_index": 3 }, { - "subtask": "End", + "subtask": "Pour the bullets from the paper cup into the bowl with right gripper", "subtask_index": 4 }, { - "subtask": "Place the test tube into the paper cup with the right gripper", + "subtask": "Place the paper cup on the table with right gripper", "subtask_index": 5 }, - { - "subtask": "Place the test tube into the paper cup with the left gripper", - "subtask_index": 6 - }, - { - "subtask": "Grasp the blue reagent with the left gripper", - "subtask_index": 7 - }, - { - "subtask": "Pour the red reagent into the graduated cylinder with the right gripper", - "subtask_index": 8 - }, { "subtask": "null", - "subtask_index": 9 + "subtask_index": 6 } ], "atomic_actions": [ @@ -3589,21 +4512,21 @@ "pour" ], "robot_name": [ - "Galaxea_R1_Lite" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "end_effector_type": "five_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_left_rgb", - "cam_head_right_rgb", + "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "cam_right_wrist_rgb", + "cam_front_rgb" ], "came_info": { - "cam_head_left_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_head_right_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p" + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", @@ -3621,29 +4544,29 @@ ], "statistics": { "total_episodes": 50, - "total_frames": 28433, + "total_frames": 19529, "fps": 30, - "total_tasks": 10, + "total_tasks": 7, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, + "state_dim": 36, + "action_dim": 36, "camera_views": 4, - "dataset_size": "1.57 GB" + "dataset_size": "726.21 MB" }, - "frame_num": 28433, - "dataset_size": "1.57 GB", - "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_blue_large_test_tube_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 19529, + "dataset_size": "726.21 MB", + "data_structure": "Airbot_MMK2_pour_BBs_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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_left_rgb": { + "observation.images.cam_head_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -3652,8 +4575,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -3662,11 +4585,11 @@ "has_audio": false } }, - "observation.images.cam_head_right_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -3675,8 +4598,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -3685,10 +4608,10 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 360, + 480, 640, 3 ], @@ -3698,7 +4621,7 @@ "channels" ], "info": { - "video.height": 360, + "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -3708,10 +4631,10 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_front_rgb": { "dtype": "video", "shape": [ - 360, + 480, 640, 3 ], @@ -3721,7 +4644,7 @@ "channels" ], "info": { - "video.height": 360, + "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -3734,7 +4657,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 14 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -3749,14 +4672,36 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "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": [ - 14 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -3771,8 +4716,30 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "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": { @@ -3923,66 +4890,6 @@ 2 ], "dtype": "int32" - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" } }, "authors": { @@ -4004,9 +4911,111 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Airbot_MMK2_storage_egg_plate": { + "R1_Lite_take_and_place_the_portable_power_bank": { + "path": "R1_Lite_take_and_place_the_portable_power_bank", + "dataset_name": "take_and_place_the_portable_power_bank", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Open the top of the storage box", + "objects": [ + { + "object_name": "cloth_bag", + "level1": "container", + "level2": "cloth_bag", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "portable_power_bank", + "level1": "electronic_equipment", + "level2": "portable_power_bank", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-237234", + "dataset_size": "17.3GB", + "statistics": { + "total_episodes": 110, + "total_frames": 237234, + "total_tasks": 1, + "total_videos": 330, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "f283fb8d-62de-4238-bb07-bcac110d50bb", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Open the top of the storage box", + "Release the handle", + "Grip the handle again", + "End", + "abnormal", + "Lift the black box", + "Grip the handle", + "Place the black box back", + "Close the top of the storage box", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_take_and_place_the_portable_power_bank_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Galaxea_R1_Lite_mix_red_blue_large_test_tube": { "task_categories": [ "robotics" ], @@ -4036,11 +5045,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_egg_plate", + "dataset_name": "Galaxea_R1_Lite_mix_red_blue_large_test_tube", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "kitchen", + "level1": "office_workspace", + "level2": "office", "level3": null, "level4": null, "level5": null @@ -4048,81 +5057,122 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "egg", - "level1": "food", - "level2": "egg", + "object_name": "blue_pigment", + "level1": "materials", + "level2": "blue_pigment", "level3": null, "level4": null, "level5": null }, { - "object_name": "white_small_plate", - "level1": "kitchen_supplies", - "level2": "plates", + "object_name": "yellow_pigment", + "level1": "materials", + "level2": "yellow_pigment", "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 plate." - ], - "sub_tasks": [ + }, { - "subtask": "Place the egg into the plate with the right gripper", - "subtask_index": 0 + "object_name": "red_pigment", + "level1": "materials", + "level2": "red_pigment", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the egg with the left gripper", - "subtask_index": 1 + "object_name": "test_tube_rack", + "level1": "holding_utensils", + "level2": "test_tube_rack", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the egg into the plate with the left gripper", + "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 red pigment and the test tube with blue pigment by grippers and pour them into the beaker." + ], + "sub_tasks": [ + { + "subtask": "Pour the red reagent into the graduated cylinder and place the test tube into the paper cup", + "subtask_index": 0 + }, + { + "subtask": "Grasp the red reagent with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Pour the blue reagent into the graduated cylinder and place the test tube into the paper cup", "subtask_index": 2 }, { - "subtask": "Abnormal", + "subtask": "Pour the blue reagent into the graduated cylinder with the left gripper", "subtask_index": 3 }, { - "subtask": "Place the cake into the plate with the right gripper", + "subtask": "End", "subtask_index": 4 }, { - "subtask": "End", + "subtask": "Place the test tube into the paper cup with the right gripper", "subtask_index": 5 }, { - "subtask": "Grasp the egg with the right gripper", + "subtask": "Place the test tube into the paper cup with the left gripper", "subtask_index": 6 }, { - "subtask": "null", + "subtask": "Grasp the blue reagent with the left gripper", "subtask_index": 7 + }, + { + "subtask": "Pour the red reagent into the graduated cylinder with the right gripper", + "subtask_index": 8 + }, + { + "subtask": "null", + "subtask_index": 9 } ], "atomic_actions": [ "grasp", "pick", - "place" + "place", + "pour" ], "robot_name": [ - "Airbot_MMK2" + "Galaxea_R1_Lite" ], - "end_effector_type": "five_finger_gripper", + "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_rgb", + "cam_head_left_rgb", + "cam_head_right_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "cam_right_wrist_rgb" ], "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_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", @@ -4139,30 +5189,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 45, - "total_frames": 7564, + "total_episodes": 50, + "total_frames": 28433, "fps": 30, - "total_tasks": 8, - "total_videos": 180, + "total_tasks": 10, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, + "state_dim": 14, + "action_dim": 14, "camera_views": 4, - "dataset_size": "345.41 MB" + "dataset_size": "1.57 GB" }, - "frame_num": 7564, - "dataset_size": "345.41 MB", - "data_structure": "Airbot_MMK2_storage_egg_plate_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (33 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 28433, + "dataset_size": "1.57 GB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_blue_large_test_tube_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:44" + "train": "0:49" }, "features": { - "observation.images.cam_head_rgb": { + "observation.images.cam_head_left_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -4171,8 +5221,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -4181,11 +5231,11 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_head_right_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -4194,8 +5244,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -4204,10 +5254,10 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 480, + 360, 640, 3 ], @@ -4217,7 +5267,7 @@ "channels" ], "info": { - "video.height": 480, + "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -4227,10 +5277,10 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 480, + 360, 640, 3 ], @@ -4240,7 +5290,7 @@ "channels" ], "info": { - "video.height": 480, + "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -4253,7 +5303,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -4268,36 +5318,14 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -4312,30 +5340,8 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "timestamp": { @@ -4486,6 +5492,66 @@ 2 ], "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" } }, "authors": { @@ -4507,321 +5573,514 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "Cobot_Magic_pour_water_a": { - "path": "Cobot_Magic_pour_water_a", - "dataset_name": "pour_water_a", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" + "Airbot_MMK2_storage_egg_plate": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" + "language": [ + "en" ], - "tasks": "Grab the paper cup on the right.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "nongfu_spring_mineral_water", - "level1": "drink", - "level2": "nongfu_spring_mineral_water", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yibao_mineral_water", - "level1": "drink", - "level2": "yibao_mineral_water", - "level3": null, - "level4": null, - "level5": null - }, + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ { - "object_name": "baisui_mountain_mineral_water", - "level1": "drink", - "level2": "baisui_mountain_mineral_water", - "level3": null, - "level4": null, - "level5": null + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_storage_egg_plate", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "kitchen", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ { - "object_name": "wahaha_mineral_water", - "level1": "drink", - "level2": "wahaha_mineral_water", + "object_name": "egg", + "level1": "food", + "level2": "egg", "level3": null, "level4": null, "level5": null }, { - "object_name": "cup", - "level1": "container", - "level2": "cup", + "object_name": "white_small_plate", + "level1": "kitchen_supplies", + "level2": "plates", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-1302424", - "dataset_size": "13.8GB", - "statistics": { - "total_episodes": 896, - "total_frames": 1302424, - "total_tasks": 8, - "total_videos": 2688, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "1cf008f5-6677-4b28-8eae-d7a325544806", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "use hands to pick the egg on the table and place them into the plate." ], "sub_tasks": [ - "Grab the paper cup on the right.", - "Lift the paper cup on the right.", - "Pick up the bottle", - "Grab the bottle with right gripper", - "Grab the water bottle on the right.", - "Pour water from bottle to cup with the right gripper", - "Abnormal", - "Place the paper cup with the left gripper", - "Lift the paper cup on the left.", - "Place the bottle", - "Put the cup down with left gripper", - "Grasp the cup with left gripper", - "Grasp the bottle with the left gripper", - "Pour water from bottle to cup with the left gripper", - "Take the water with left gripper", - "End", - "Receive water on the left.", - "Pick up the cup", - "Discard.", - "Collect water on the right.", - "Pour the water with right gripper", - "Pour water from bottle to cup", - "Grab the water bottle on the left.", - "Put the bottle down with right gripper", - "Place the water bottle on the right.", - "Pour water on the left.", - "Grab the paper cup on the left.", - "Place the bottle with the left gripper", - "Place the paper cup with the right gripper", - "Place the bottle with the right gripper", - "Place the paper cup on the right.", - "Receive water on the right.", - "Lift the cup with left gripper", - "Grasp the paper cup with the right gripper", - "Grasp the bottle with the right gripper", - "Grasp the paper cup with the left gripper", - "Pour water on the right.", - "Collect water on the left.", - "Place the cup", - "Place the paper cup on the left.", - "Place the water bottle on the left.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_place_the_sponge_and_wet_wipes": { - "path": "AIRBOT_MMK2_place_the_sponge_and_wet_wipes", - "dataset_name": "place_the_sponge_and_wet_wipes", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Grasp the sponge with the left gripper", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the egg into the plate with the right gripper", + "subtask_index": 0 }, { - "object_name": "sponge", - "level1": "daily_necessities", - "level2": "sponge", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the egg with the left gripper", + "subtask_index": 1 }, { - "object_name": "wet_wipes", - "level1": "daily_necessities", - "level2": "wet_wipes", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the egg into the plate with the left gripper", + "subtask_index": 2 }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null + "subtask": "Abnormal", + "subtask_index": 3 }, { - "object_name": "mouse_box", - "level1": "container", - "level2": "mouse_box", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the cake into the plate with the right gripper", + "subtask_index": 4 }, { - "object_name": "charging_power_bank_box", - "level1": "container", - "level2": "charging_power_bank_box", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 5 }, { - "object_name": "lid", - "level1": "container", - "level2": "lid", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the egg with the right gripper", + "subtask_index": 6 + }, + { + "subtask": "null", + "subtask_index": 7 } ], - "operation_platform_height": 77.2, - "frame_range": "0-10033", - "dataset_size": "390.9MB", + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], "statistics": { - "total_episodes": 90, - "total_frames": 10033, - "total_tasks": 2, - "total_videos": 360, + "total_episodes": 45, + "total_frames": 7564, + "fps": 30, + "total_tasks": 8, + "total_videos": 180, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "345.41 MB" }, - "dataset_uuid": "ce41bab0-f121-49df-b55f-742a8e05ec09", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the sponge with the left gripper ", - "Place the sponge into the white basket with the left gripper ", - "Grasp the mouse box with the left gripper", - "Place the wet wipes into the white basket with the right gripper", - "Grasp the wet wipes with the right gripper", - "Static", - "End", - "Place the mouse box on the white lid with the left gripper", - "Grasp the phone case box with the right gripper", - "Place the phone case box on the white lid with the right gripper", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "frame_num": 7564, + "dataset_size": "345.41 MB", + "data_structure": "Airbot_MMK2_storage_egg_plate_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (33 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:44" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } }, "authors": { "contributed_by": [ { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Cobot_Magic_place_the_cube_block": { - "path": "Cobot_Magic_place_the_cube_block", - "dataset_name": "place_the_cube_block", + "Cobot_Magic_pour_water_a": { + "path": "Cobot_Magic_pour_water_a", + "dataset_name": "pour_water_a", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -4829,10 +6088,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "place", + "pick" ], - "tasks": "Place it into the yellow plate", + "tasks": "Grab the paper cup on the right.", "objects": [ { "object_name": "table", @@ -4843,35 +6102,59 @@ "level5": null }, { - "object_name": "cube_block", - "level1": "toy", - "level2": "cube_block", + "object_name": "nongfu_spring_mineral_water", + "level1": "drink", + "level2": "nongfu_spring_mineral_water", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", + "object_name": "yibao_mineral_water", + "level1": "drink", + "level2": "yibao_mineral_water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "baisui_mountain_mineral_water", + "level1": "drink", + "level2": "baisui_mountain_mineral_water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "wahaha_mineral_water", + "level1": "drink", + "level2": "wahaha_mineral_water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", "level1": "container", - "level2": "plate", + "level2": "cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-12763", - "dataset_size": "222.1MB", + "frame_range": "0-1302424", + "dataset_size": "13.8GB", "statistics": { - "total_episodes": 58, - "total_frames": 12763, - "total_tasks": 1, - "total_videos": 174, + "total_episodes": 896, + "total_frames": 1302424, + "total_tasks": 8, + "total_videos": 2688, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "8f5ebbc9-2983-4035-a6cd-395dcace072d", + "dataset_uuid": "1cf008f5-6677-4b28-8eae-d7a325544806", "language": [ "en", "zh" @@ -4880,9 +6163,48 @@ "robotics" ], "sub_tasks": [ - "Place it into the yellow plate", - "Grasp the small cube on the table", - "null" + "Grab the paper cup on the right.", + "Lift the paper cup on the right.", + "Pick up the bottle", + "Grab the bottle with right gripper", + "Grab the water bottle on the right.", + "Pour water from bottle to cup with the right gripper", + "Abnormal", + "Place the paper cup with the left gripper", + "Lift the paper cup on the left.", + "Place the bottle", + "Put the cup down with left gripper", + "Grasp the cup with left gripper", + "Grasp the bottle with the left gripper", + "Pour water from bottle to cup with the left gripper", + "Take the water with left gripper", + "End", + "Receive water on the left.", + "Pick up the cup", + "Discard.", + "Collect water on the right.", + "Pour the water with right gripper", + "Pour water from bottle to cup", + "Grab the water bottle on the left.", + "Put the bottle down with right gripper", + "Place the water bottle on the right.", + "Pour water on the left.", + "Grab the paper cup on the left.", + "Place the bottle with the left gripper", + "Place the paper cup with the right gripper", + "Place the bottle with the right gripper", + "Place the paper cup on the right.", + "Receive water on the right.", + "Lift the cup with left gripper", + "Grasp the paper cup with the right gripper", + "Grasp the bottle with the right gripper", + "Grasp the paper cup with the left gripper", + "Pour water on the right.", + "Collect water on the left.", + "Place the cup", + "Place the paper cup on the left.", + "Place the water bottle on the left.", + "null" ], "annotations": { "subtask_annotation": "auto_generated", @@ -4919,22 +6241,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_pour_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_pick_metal_bowl_aa": { - "path": "G1edu-u3_pick_metal_bowl_aa", - "dataset_name": "pick_metal_bowl_aa", + "AIRBOT_MMK2_place_the_sponge_and_wet_wipes": { + "path": "AIRBOT_MMK2_place_the_sponge_and_wet_wipes", + "dataset_name": "place_the_sponge_and_wet_wipes", "robot_type": "", "end_effector_type": [ - "three_finger_hand" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", + "place", "pick" ], - "tasks": "Grasp the metal bowl and lift it to the center of the view with left gripper", + "tasks": "Grasp the sponge with the left gripper", "objects": [ { "object_name": "table", @@ -4945,106 +6268,17 @@ "level5": null }, { - "object_name": "metal_bowl", - "level1": "bowl", - "level2": "metal_bowl", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-15548", - "dataset_size": "221.0MB", - "statistics": { - "total_episodes": 35, - "total_frames": 15548, - "total_tasks": 1, - "total_videos": 35, - "total_chunks": 1, - "chunks_size": 35, - "fps": 30 - }, - "dataset_uuid": "e1af01c7-7aea-4e21-a205-cadda0c4620b", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the metal bowl and lift it to the center of the view with left gripper", - "End", - "Grasp the metal bowl and lift it to the center of the view with right gripper", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_place_the_building_blocks": { - "path": "AIRBOT_MMK2_place_the_building_blocks", - "dataset_name": "place_the_building_blocks", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "open", - "hold" - ], - "tasks": "Abnormal", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "sponge", + "level1": "daily_necessities", + "level2": "sponge", "level3": null, "level4": null, "level5": null }, { - "object_name": "building_block", - "level1": "toy", - "level2": "building_block", + "object_name": "wet_wipes", + "level1": "daily_necessities", + "level2": "wet_wipes", "level3": null, "level4": null, "level5": null @@ -5056,103 +6290,19 @@ "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-14173", - "dataset_size": "455.5MB", - "statistics": { - "total_episodes": 43, - "total_frames": 14173, - "total_tasks": 1, - "total_videos": 172, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "e309be0e-14ed-4d1a-bef2-0a030776d5f6", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Abnormal", - "Place the green cuboid block into the plate with the right gripper", - "Static", - "Grasp the red cuboid block with the left gripper", - "Place the red cuboid block into the plate with the left gripper", - "End", - "Grasp the green cuboid block with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_place_the_umbrella_and_the_ruler": { - "path": "AIRBOT_MMK2_place_the_umbrella_and_the_ruler", - "dataset_name": "place_the_umbrella_and_the_ruler", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Grasp the umbrella with the left gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "mouse_box", + "level1": "container", + "level2": "mouse_box", "level3": null, "level4": null, "level5": null }, { - "object_name": "umbrella", - "level1": "tool", - "level2": "umbrella", + "object_name": "charging_power_bank_box", + "level1": "container", + "level2": "charging_power_bank_box", "level3": null, "level4": null, "level5": null @@ -5164,29 +6314,21 @@ "level3": null, "level4": null, "level5": null - }, - { - "object_name": "tape_measure", - "level1": "tool", - "level2": "tape_measure", - "level3": null, - "level4": null, - "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-7298", - "dataset_size": "242.5MB", + "frame_range": "0-10033", + "dataset_size": "390.9MB", "statistics": { - "total_episodes": 42, - "total_frames": 7298, - "total_tasks": 1, - "total_videos": 168, + "total_episodes": 90, + "total_frames": 10033, + "total_tasks": 2, + "total_videos": 360, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "327b6447-3184-4211-985a-d0c2d279758c", + "dataset_uuid": "ce41bab0-f121-49df-b55f-742a8e05ec09", "language": [ "en", "zh" @@ -5195,132 +6337,17 @@ "robotics" ], "sub_tasks": [ - "Grasp the umbrella with the left gripper", - "Grasp the tape measure with the right gripper", + "Grasp the sponge with the left gripper ", + "Place the sponge into the white basket with the left gripper ", + "Grasp the mouse box with the left gripper", + "Place the wet wipes into the white basket with the right gripper", + "Grasp the wet wipes with the right gripper", "Static", "End", - "Place the tape measure in the white basket with the right gripper", - "Place the umbrella in the white basket with the left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_fold_clothes": { - "path": "Cobot_Magic_fold_clothes", - "dataset_name": "fold_clothes", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long_sleeves", - "level1": "clothing", - "level2": "long_sleeves", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-774487", - "dataset_size": "27.7GB", - "statistics": { - "total_episodes": 584, - "total_frames": 774487, - "total_tasks": 6, - "total_videos": 1752, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "9ada1a09-15dc-469e-9b36-c01a488ceecf", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "use the right arm to drag the right edge of the fabric to the left and folds it over the left edge", - "use the right arm to clamp the right edge of the fabric", - "Use your right arm to clamp the cuff closest to him", - "use the right arm to drag and place the cuff at thecentered position on the left edge of the fabric", - "use the right arm to drag the right edge of the fabric to the right and folds it over the left edge", - "Hold the left edge of the fabric with your left arm", - "use the left arm to drag and drop the cuff onto the cuff closest to the left arm", - "use the right arm to drag and drop the cuff onto the cuffclosest to the right arm", - "Spread the clothes out flat on the table with both grippers", - "use both arms to drag the lower edge of the fabric forward and fold it over the upper edge", - "use the left arm to drag and place the cuff at the centered position on the left edge of the fabric", + "Place the mouse box on the white lid with the left gripper", + "Grasp the phone case box with the right gripper", + "Place the phone case box on the white lid with the right gripper", "Abnormal", - "use both arms simultaneously to clamp the lower edge of the clothing fabric", - "use the left arm to clamp the cuff farthest from it", - "Use your right arm to clamp the cuff farthest to him", - "use the left arm to clamp the cuff closest to it", - "Drag the left edge of the fabric to the left with your left arm and fold it to the right edge", - "Spread the long sleeves with your arms and place them on the tabletop", "null" ], "annotations": { @@ -5358,23 +6385,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_place_the_sponge_and_wet_wipes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AgiBot-g1_picks_up_parts_a": { - "path": "AgiBot-g1_picks_up_parts_a", - "dataset_name": "picks_up_parts_a", + "Cobot_Magic_place_the_cube_block": { + "path": "Cobot_Magic_place_the_cube_block", + "dataset_name": "place_the_cube_block", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "place", + "grasp", "pick", - "grasp" + "place" ], - "tasks": "Place the hard drive bracket into the box.", + "tasks": "Place it into the yellow plate", "objects": [ { "object_name": "table", @@ -5385,35 +6412,35 @@ "level5": null }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", + "object_name": "cube_block", + "level1": "toy", + "level2": "cube_block", "level3": null, "level4": null, "level5": null }, { - "object_name": "parts", - "level1": "tool", - "level2": "parts", + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-45417", - "dataset_size": "22.3GB", + "operation_platform_height": 77.2, + "frame_range": "0-12763", + "dataset_size": "222.1MB", "statistics": { - "total_episodes": 126, - "total_frames": 45417, + "total_episodes": 58, + "total_frames": 12763, "total_tasks": 1, - "total_videos": 1008, + "total_videos": 174, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "ffa75a2d-6545-468f-86d7-86ae4766cc5a", + "dataset_uuid": "8f5ebbc9-2983-4035-a6cd-395dcace072d", "language": [ "en", "zh" @@ -5422,8 +6449,8 @@ "robotics" ], "sub_tasks": [ - "Place the hard drive bracket into the box.", - "Pick up the hard drive bracket from the feeding area.", + "Place it into the yellow plate", + "Grasp the small cube on the table", "null" ], "annotations": { @@ -5461,10 +6488,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_place_the_cube_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galaxea_R1_Lite_toggle_drawer_red": { + "Airbot_MMK2_pull_plunger": { "task_categories": [ "robotics" ], @@ -5494,11 +6521,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_toggle_drawer_red", + "dataset_name": "Airbot_MMK2_pull_plunger", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "living_room", + "level1": "medical_healthcare", + "level2": "hospital", "level3": null, "level4": null, "level5": null @@ -5506,9 +6533,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "red_drawer", - "level1": "storage_utensils", - "level2": "red_drawer", + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "syringe", + "level1": "medical_supplies", + "level2": "syringe", "level3": null, "level4": null, "level5": null @@ -5516,87 +6551,60 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "use the gripper to open the drawer and close the red drawer." + "pick up the syringe with your left hand and pull the piston with your right hand." ], "sub_tasks": [ { - "subtask": "Open the red drawer with right gripper", + "subtask": "Lift the syringe with the left gripper", "subtask_index": 0 }, { - "subtask": "Open the yellow drawer with left gripper", + "subtask": "Pull the piston with the right gripper", "subtask_index": 1 }, { - "subtask": "Close the red drawer with right gripper", + "subtask": "End", "subtask_index": 2 }, { - "subtask": "Close the yellow drawer with left gripper", + "subtask": "Grasp the syringe with the left gripper", "subtask_index": 3 }, { - "subtask": "Open the red drawer with the right gripper", + "subtask": "Grasp the piston with the right gripper", "subtask_index": 4 }, { - "subtask": "End", + "subtask": "Place the syringe on the table with the left gripper", "subtask_index": 5 }, { - "subtask": "Open the red drawer with the left gripper", + "subtask": "null", "subtask_index": 6 - }, - { - "subtask": "Open the red drawer with left gripper", - "subtask_index": 7 - }, - { - "subtask": "Right gripper", - "subtask_index": 8 - }, - { - "subtask": "Close the red drawer with the left gripper", - "subtask_index": 9 - }, - { - "subtask": "Close the red drawer with the right gripper", - "subtask_index": 10 - }, - { - "subtask": "Close the red drawer with left gripper", - "subtask_index": 11 - }, - { - "subtask": "Left gripper", - "subtask_index": 12 - }, - { - "subtask": "null", - "subtask_index": 13 } ], "atomic_actions": [ "grasp", - "push", + "pick", + "place", "pull" ], "robot_name": [ - "Galaxea_R1_Lite" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "end_effector_type": "five_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_left_rgb", - "cam_head_right_rgb", + "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "cam_right_wrist_rgb", + "cam_front_rgb" ], "came_info": { - "cam_head_left_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_head_right_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p" + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", @@ -5613,30 +6621,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 100, - "total_frames": 41856, + "total_episodes": 97, + "total_frames": 26077, "fps": 30, - "total_tasks": 14, - "total_videos": 400, + "total_tasks": 7, + "total_videos": 388, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, + "state_dim": 36, + "action_dim": 36, "camera_views": 4, - "dataset_size": "1.80 GB" + "dataset_size": "1002.56 MB" }, - "frame_num": 41856, - "dataset_size": "1.80 GB", - "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_toggle_drawer_red_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 26077, + "dataset_size": "1002.56 MB", + "data_structure": "Airbot_MMK2_pull_plunger_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (85 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", "splits": { - "train": "0:99" + "train": "0:96" }, "features": { - "observation.images.cam_head_left_rgb": { + "observation.images.cam_head_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -5645,8 +6653,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -5655,11 +6663,11 @@ "has_audio": false } }, - "observation.images.cam_head_right_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -5668,8 +6676,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -5678,10 +6686,10 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 360, + 480, 640, 3 ], @@ -5691,7 +6699,7 @@ "channels" ], "info": { - "video.height": 360, + "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -5701,10 +6709,10 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_front_rgb": { "dtype": "video", "shape": [ - 360, + 480, 640, 3 ], @@ -5714,7 +6722,7 @@ "channels" ], "info": { - "video.height": 360, + "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -5727,7 +6735,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 14 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -5742,14 +6750,36 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "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": [ - 14 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -5764,8 +6794,30 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "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": { @@ -5916,66 +6968,6 @@ 2 ], "dtype": "int32" - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" } }, "authors": { @@ -5997,22 +6989,21 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Galbot_g1_steamer_storage_baozi_b": { - "path": "Galbot_g1_steamer_storage_baozi_b", - "dataset_name": "steamer_storage_baozi_b", + "G1edu-u3_pick_metal_bowl_aa": { + "path": "G1edu-u3_pick_metal_bowl_aa", + "dataset_name": "pick_metal_bowl_aa", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "pick" ], - "tasks": "Grasp the pot lid with left gripper", + "tasks": "Grasp the metal bowl and lift it to the center of the view with left gripper", "objects": [ { "object_name": "table", @@ -6023,51 +7014,27 @@ "level5": null }, { - "object_name": "baozi", - "level1": "food", - "level2": "baozi", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "steamer", - "level1": "cookware", - "level2": "steamer", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pot_lid", - "level1": "daily_necessities", - "level2": "pot_lid", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "metal_bowl", + "level1": "bowl", + "level2": "metal_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-449647", - "dataset_size": "8.5GB", + "frame_range": "0-15548", + "dataset_size": "221.0MB", "statistics": { - "total_episodes": 430, - "total_frames": 449647, + "total_episodes": 35, + "total_frames": 15548, "total_tasks": 1, - "total_videos": 1290, + "total_videos": 35, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 35, "fps": 30 }, - "dataset_uuid": "8e39e24f-3c2a-42e1-a5ca-04a7b55ef43c", + "dataset_uuid": "e1af01c7-7aea-4e21-a205-cadda0c4620b", "language": [ "en", "zh" @@ -6076,12 +7043,10 @@ "robotics" ], "sub_tasks": [ - "Grasp the pot lid with left gripper", - "Abnormal", - "Place the pot lid on the steamer with left gripper", + "Grasp the metal bowl and lift it to the center of the view with left gripper", "End", - "Place the baozi on the steamer with right gripper", - "Grasp the baozi in the plate with right gripper", + "Grasp the metal bowl and lift it to the center of the view with right gripper", + "Abnormal", "null" ], "annotations": { @@ -6119,12 +7084,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Galbot_g1_steamer_storage_baozi_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Galbot_g1_steamer_storage_baozi_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_metal_bowl_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_pass_the_cleaner_c": { - "path": "leju_robot_pass_the_cleaner_c", - "dataset_name": "pass_the_cleaner_c", + "AIRBOT_MMK2_place_the_building_blocks": { + "path": "AIRBOT_MMK2_place_the_building_blocks", + "dataset_name": "place_the_building_blocks", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -6132,10 +7097,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "open", + "hold" ], - "tasks": "Turn the bottle to the front side.", + "tasks": "Abnormal", "objects": [ { "object_name": "table", @@ -6146,27 +7111,35 @@ "level5": null }, { - "object_name": "cleaner", - "level1": "daily_necessities", - "level2": "cleaner", + "object_name": "building_block", + "level1": "toy", + "level2": "building_block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-162075", - "dataset_size": "8.3GB", + "operation_platform_height": 77.2, + "frame_range": "0-14173", + "dataset_size": "455.5MB", "statistics": { - "total_episodes": 444, - "total_frames": 162075, + "total_episodes": 43, + "total_frames": 14173, "total_tasks": 1, - "total_videos": 1332, + "total_videos": 172, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "3cc917ac-539a-404f-be76-b82846c01668", + "dataset_uuid": "e309be0e-14ed-4d1a-bef2-0a030776d5f6", "language": [ "en", "zh" @@ -6175,8 +7148,13 @@ "robotics" ], "sub_tasks": [ - "Turn the bottle to the front side.", - "Pick up the bottle from the table.", + "Abnormal", + "Place the green cuboid block into the plate with the right gripper", + "Static", + "Grasp the red cuboid block with the left gripper", + "Place the red cuboid block into the plate with the left gripper", + "End", + "Grasp the green cuboid block with the right gripper", "null" ], "annotations": { @@ -6214,12 +7192,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_pass_the_cleaner_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_pass_the_cleaner_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_place_the_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges": { - "path": "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges", - "dataset_name": "storage_for_building_blocks_and_beauty_sponges", + "AIRBOT_MMK2_place_the_umbrella_and_the_ruler": { + "path": "AIRBOT_MMK2_place_the_umbrella_and_the_ruler", + "dataset_name": "place_the_umbrella_and_the_ruler", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -6230,7 +7208,7 @@ "place", "pick" ], - "tasks": "Graasp the bullet on the plate and with the left gripper", + "tasks": "Grasp the umbrella with the left gripper", "objects": [ { "object_name": "table", @@ -6241,75 +7219,43 @@ "level5": null }, { - "object_name": "plastic_bullets", - "level1": "toy", - "level2": "plastic_bullets", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "building_blocks", - "level1": "toy", - "level2": "building_blocks", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "sponge", - "level1": "daily_necessities", - "level2": "sponge", + "object_name": "umbrella", + "level1": "tool", + "level2": "umbrella", "level3": null, "level4": null, "level5": null }, { - "object_name": "mouse_box", + "object_name": "lid", "level1": "container", - "level2": "mouse_box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "beverage", - "level1": "juice", - "level2": "beverage", + "level2": "lid", "level3": null, "level4": null, "level5": null }, { - "object_name": "wet_wipes", - "level1": "daily_necessities", - "level2": "wet_wipes", + "object_name": "tape_measure", + "level1": "tool", + "level2": "tape_measure", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-33906", - "dataset_size": "1.0GB", + "frame_range": "0-7298", + "dataset_size": "242.5MB", "statistics": { - "total_episodes": 150, - "total_frames": 33906, - "total_tasks": 3, - "total_videos": 600, + "total_episodes": 42, + "total_frames": 7298, + "total_tasks": 1, + "total_videos": 168, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "be857fee-79ab-4aaa-b319-7037bc68d506", + "dataset_uuid": "327b6447-3184-4211-985a-d0c2d279758c", "language": [ "en", "zh" @@ -6318,21 +7264,12 @@ "robotics" ], "sub_tasks": [ - "Graasp the bullet on the plate and with the left gripper", - "Abnormal", - "Place the mouse box into the plate with the right gripper", - "Grasp the Vitamin B water in the plate with the left gripper", - "Place the wet wipes into the plate with the right gripper", - "Place the bullet on the table with the left gripper", - "Grasp the mouse box with the right gripper", - "Place the sponge on the table with the left gripper", - "Place the Vitamin B water on the table with the left gripper", + "Grasp the umbrella with the left gripper", + "Grasp the tape measure with the right gripper", "Static", - "Graasp the green rectangular block with the right gripper", "End", - "Grasp the sponge in the plate with the left gripper", - "Grasp the wet wipes with the right gripper", - "Place the green rectangular block on the plate with the right gripper", + "Place the tape measure in the white basket with the right gripper", + "Place the umbrella in the white basket with the left gripper", "null" ], "annotations": { @@ -6370,12 +7307,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_place_the_umbrella_and_the_ruler_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galbot_g1_steamer_storage_baozi_d": { - "path": "Galbot_g1_steamer_storage_baozi_d", - "dataset_name": "steamer_storage_baozi_d", + "Cobot_Magic_fold_clothes": { + "path": "Cobot_Magic_fold_clothes", + "dataset_name": "fold_clothes", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -6383,10 +7320,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "place", + "pick" ], - "tasks": "Grasp the pot lid with left gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -6397,51 +7334,35 @@ "level5": null }, { - "object_name": "baozi", - "level1": "food", - "level2": "baozi", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "steamer", - "level1": "cookware", - "level2": "steamer", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pot_lid", - "level1": "daily_necessities", - "level2": "pot_lid", + "object_name": "long_sleeves", + "level1": "clothing", + "level2": "long_sleeves", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-992823", - "dataset_size": "16.7GB", + "frame_range": "0-774487", + "dataset_size": "27.7GB", "statistics": { - "total_episodes": 969, - "total_frames": 992823, - "total_tasks": 1, - "total_videos": 2907, + "total_episodes": 584, + "total_frames": 774487, + "total_tasks": 6, + "total_videos": 1752, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "6476bc25-2a08-4c26-98c9-e84875c9b667", + "dataset_uuid": "9ada1a09-15dc-469e-9b36-c01a488ceecf", "language": [ "en", "zh" @@ -6450,12 +7371,25 @@ "robotics" ], "sub_tasks": [ - "Grasp the pot lid with left gripper", - "Abnormal", - "Place the pot lid on the steamer with left gripper", "End", - "Place the baozi on the steamer with right gripper", - "Grasp the baozi in the plate with right gripper", + "use the right arm to drag the right edge of the fabric to the left and folds it over the left edge", + "use the right arm to clamp the right edge of the fabric", + "Use your right arm to clamp the cuff closest to him", + "use the right arm to drag and place the cuff at thecentered position on the left edge of the fabric", + "use the right arm to drag the right edge of the fabric to the right and folds it over the left edge", + "Hold the left edge of the fabric with your left arm", + "use the left arm to drag and drop the cuff onto the cuff closest to the left arm", + "use the right arm to drag and drop the cuff onto the cuffclosest to the right arm", + "Spread the clothes out flat on the table with both grippers", + "use both arms to drag the lower edge of the fabric forward and fold it over the upper edge", + "use the left arm to drag and place the cuff at the centered position on the left edge of the fabric", + "Abnormal", + "use both arms simultaneously to clamp the lower edge of the clothing fabric", + "use the left arm to clamp the cuff farthest from it", + "Use your right arm to clamp the cuff farthest to him", + "use the left arm to clamp the cuff closest to it", + "Drag the left edge of the fabric to the left with your left arm and fold it to the right edge", + "Spread the long sleeves with your arms and place them on the tabletop", "null" ], "annotations": { @@ -6493,23 +7427,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Galbot_g1_steamer_storage_baozi_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Galbot_g1_steamer_storage_baozi_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_fold_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_make_a_landline_call": { - "path": "R1_Lite_make_a_landline_call", - "dataset_name": "make_a_landline_call", + "AgiBot-g1_picks_up_parts_a": { + "path": "AgiBot-g1_picks_up_parts_a", + "dataset_name": "picks_up_parts_a", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "grasp", + "place", "pick", - "place" + "grasp" ], - "tasks": "Pick up the desk phone handset", + "tasks": "Place the hard drive bracket into the box.", "objects": [ { "object_name": "table", @@ -6520,27 +7454,35 @@ "level5": null }, { - "object_name": "furnitureixed_line_telephone", - "level1": "communication_equipment", - "level2": "furnitureixed_line_telephone", + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parts", + "level1": "tool", + "level2": "parts", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-86262", - "dataset_size": "5.9GB", + "frame_range": "0-45417", + "dataset_size": "22.3GB", "statistics": { - "total_episodes": 115, - "total_frames": 86262, + "total_episodes": 126, + "total_frames": 45417, "total_tasks": 1, - "total_videos": 345, + "total_videos": 1008, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "0fc5b260-c949-49ab-8963-c0869de35749", + "dataset_uuid": "ffa75a2d-6545-468f-86d7-86ae4766cc5a", "language": [ "en", "zh" @@ -6549,10 +7491,8 @@ "robotics" ], "sub_tasks": [ - "Pick up the desk phone handset", - "End the call using the dial pad", - "Put the handset back", - "Dial the number", + "Place the hard drive bracket into the box.", + "Pick up the hard drive bracket from the feeding area.", "null" ], "annotations": { @@ -6590,459 +7530,547 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_make_a_landline_call_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_make_a_landline_call_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_picks_up_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_hotel_services_c": { - "path": "leju_robot_hotel_services_c", - "dataset_name": "hotel_services_c", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Hand the room key to the person.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "card", - "level1": "nfc", - "level2": "card", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-235148", - "dataset_size": "15.6GB", - "statistics": { - "total_episodes": 334, - "total_frames": 235148, - "total_tasks": 1, - "total_videos": 1002, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "6caaa6a8-f638-4f21-89e1-89725c297ba7", - "language": [ - "en", - "zh" - ], + "Galaxea_R1_Lite_toggle_drawer_red": { "task_categories": [ "robotics" ], - "sub_tasks": [ - "Hand the room key to the person.", - "Place the ID card on the card reader.", - "Take the ID card from the person's hand.", - "Pick up the room key from the key card box.", - "Hand the ID card to the person.", - "null" + "language": [ + "en" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_box_storage_b": { - "path": "AgiBot-g1_box_storage_b", - "dataset_name": "box_storage_b", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Place the mouse and the power cord paper box into the container.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, + "license": "apache-2.0", + "configs": [ { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" } ], - "operation_platform_height": null, - "frame_range": "0-49301", - "dataset_size": "19.7GB", - "statistics": { - "total_episodes": 96, - "total_frames": 49301, - "total_tasks": 1, - "total_videos": 768, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "acb66e80-45d3-413b-829d-ca92e763d418", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the mouse and the power cord paper box into the container.", - "Pick up the mouse and the power cord paper box.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "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\"" + } }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] + "codebase_version": "v2.1", + "dataset_name": "Galaxea_R1_Lite_toggle_drawer_red", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "living_room", + "level3": null, + "level4": null, + "level5": null }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_box_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_box_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_open_notebook": { - "path": "AIRBOT_MMK2_open_notebook", - "dataset_name": "open_notebook", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "open", - "hold" - ], - "tasks": "Static", + "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": "notebook", - "level1": "office_supplies", - "level2": "notebook", + "object_name": "red_drawer", + "level1": "storage_utensils", + "level2": "red_drawer", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-11734", - "dataset_size": "432.3MB", - "statistics": { - "total_episodes": 50, - "total_frames": 11734, - "total_tasks": 1, - "total_videos": 200, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "f7156fc6-87bb-4662-b1ff-9cf8de2c4742", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "use the gripper to open the drawer and close the red drawer." ], "sub_tasks": [ - "Static", - "End", - "Release the laptop with the right gripper", - "Press the laptop with the right gripper", - "Open the laptop with the left gripper", - "Grasp the laptop with the left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_the_plate_holds_the_vegetables": { - "path": "Cobot_Magic_the_plate_holds_the_vegetables", - "dataset_name": "the_plate_holds_the_vegetables", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Place the pumpkin on the plate with right gripper", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Open the red drawer with right gripper", + "subtask_index": 0 }, { - "object_name": "vegetables", - "level1": "food", - "level2": "vegetables", - "level3": null, - "level4": null, - "level5": null + "subtask": "Open the yellow drawer with left gripper", + "subtask_index": 1 }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null + "subtask": "Close the red drawer with right gripper", + "subtask_index": 2 }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", - "level3": null, - "level4": null, - "level5": null + "subtask": "Close the yellow drawer with left gripper", + "subtask_index": 3 + }, + { + "subtask": "Open the red drawer with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "End", + "subtask_index": 5 + }, + { + "subtask": "Open the red drawer with the left gripper", + "subtask_index": 6 + }, + { + "subtask": "Open the red drawer with left gripper", + "subtask_index": 7 + }, + { + "subtask": "Right gripper", + "subtask_index": 8 + }, + { + "subtask": "Close the red drawer with the left gripper", + "subtask_index": 9 + }, + { + "subtask": "Close the red drawer with the right gripper", + "subtask_index": 10 + }, + { + "subtask": "Close the red drawer with left gripper", + "subtask_index": 11 + }, + { + "subtask": "Left gripper", + "subtask_index": 12 + }, + { + "subtask": "null", + "subtask_index": 13 } ], - "operation_platform_height": null, - "frame_range": "0-179090", - "dataset_size": "8.5GB", - "statistics": { - "total_episodes": 505, - "total_frames": 179090, - "total_tasks": 6, - "total_videos": 1515, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "3ce5fdfc-c006-40f2-95d9-16a38b9e6337", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "push", + "pull" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Galaxea_R1_Lite" ], - "sub_tasks": [ - "Place the pumpkin on the plate with right gripper", - "Place the radish on the plate with right gripper", - "Place the potato on the plate with left gripper", - "Place the bell pepper on the plate with right gripper", - "Place the eggplant on the plate with right gripper", - "Place the eggplant on the plate with left gripper", - "Grasp the bell pepper with left gripper", - "End", - "Grasp the bell pepper with right gripper", - "Place the bell pepper on the plate with left gripper", - "Grasp the bitter melon with left gripper", - "Grasp the eggplant with right gripper", - "Grasp the potato with left gripper", - "Abnormal", - "Place the radish on the plate with left gripper", - "Grasp the bitter melon with right gripper", - "Grasp the eggplant with left gripper", - "Place the pumpkin on the plate with left gripper", - "Place the carrot on the plate with right gripper", - "Place the carrot on the plate with left gripper", - "Grasp the carrot with left gripper", - "Grasp the radish with left gripper", - "Place the bitter melon on the plate with left gripper", - "Grasp the pumpkin with left gripper", - "Grasp the radish with right gripper", - "Grasp the carrot with right gripper", - "Grasp the potato with right gripper", - "Place the potato on the plate with right gripper", - "Grasp the pumpkin with right gripper", - "Place the bitter melon on the plate with right gripper", - "null" + "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" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "came_info": { + "cam_head_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" }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 100, + "total_frames": 41856, + "fps": 30, + "total_tasks": 14, + "total_videos": 400, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "1.80 GB" + }, + "frame_num": 41856, + "dataset_size": "1.80 GB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_toggle_drawer_red_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:99" + }, + "features": { + "observation.images.cam_head_left_rgb": { + "dtype": "video", + "shape": [ + 720, + 1280, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 720, + "video.width": 1280, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_head_right_rgb": { + "dtype": "video", + "shape": [ + 720, + 1280, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 720, + "video.width": 1280, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 360, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 360, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 360, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 360, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 14 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_gripper_open", + "right_gripper_open" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 14 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_gripper_open", + "right_gripper_open" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "RMC-AIDA-L_glasses_storage": { - "path": "RMC-AIDA-L_glasses_storage", - "dataset_name": "glasses_storage", + "Galbot_g1_steamer_storage_baozi_b": { + "path": "Galbot_g1_steamer_storage_baozi_b", + "dataset_name": "steamer_storage_baozi_b", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -7051,11 +8079,9 @@ "atomic_actions": [ "grasp", "pick", - "fold", - "close", "place" ], - "tasks": "Place the glasses case in the center of the table with your left hand.", + "tasks": "Grasp the pot lid with left gripper", "objects": [ { "object_name": "table", @@ -7066,35 +8092,51 @@ "level5": null }, { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", + "object_name": "baozi", + "level1": "food", + "level2": "baozi", "level3": null, "level4": null, "level5": null }, { - "object_name": "glasses", + "object_name": "steamer", + "level1": "cookware", + "level2": "steamer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pot_lid", "level1": "daily_necessities", - "level2": "glasses", + "level2": "pot_lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-861465", - "dataset_size": "8.6GB", + "operation_platform_height": null, + "frame_range": "0-449647", + "dataset_size": "8.5GB", "statistics": { - "total_episodes": 990, - "total_frames": 861465, - "total_tasks": 4, - "total_videos": 2970, + "total_episodes": 430, + "total_frames": 449647, + "total_tasks": 1, + "total_videos": 1290, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "3f805357-8df7-41c3-aa00-a08b08e0915c", + "dataset_uuid": "8e39e24f-3c2a-42e1-a5ca-04a7b55ef43c", "language": [ "en", "zh" @@ -7103,24 +8145,12 @@ "robotics" ], "sub_tasks": [ - "Place the glasses case in the center of the table with your left hand.", - "Grab the glasses case with your left hand.", - "Lift the glasses with your right hand.", - "Put the glasses into the case with your right hand.", - "Discard.", - "Grab the eyeglass frame with your right hand.", - "Put the glasses into the case with your left hand.", - "end", - "Place the glasses on the table with your left hand.", - "Close the glasses case with your left hand.", - "Grab the frame with your right hand.", - "Lift the glasses with your left hand.", - "Fold the frame with your right hand.", - "Place the glasses case in the center of the table with your right hand.", - "Close the glasses case with your right hand.", - "Fold the frame with your left hand.", - "Grab the glasses with your left hand.", - "Grab the glasses case with your right hand.", + "Grasp the pot lid with left gripper", + "Abnormal", + "Place the pot lid on the steamer with left gripper", + "End", + "Place the baozi on the steamer with right gripper", + "Grasp the baozi in the plate with right gripper", "null" ], "annotations": { @@ -7158,73 +8188,197 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_glasses_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_glasses_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Galbot_g1_steamer_storage_baozi_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Galbot_g1_steamer_storage_baozi_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_washing_board": { - "path": "R1_Lite_washing_board", - "dataset_name": "washing_board", + "leju_robot_pass_the_cleaner_c": { + "path": "leju_robot_pass_the_cleaner_c", + "dataset_name": "pass_the_cleaner_c", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", "pick", - "place", - "open", - "wipe", - "close" + "place" ], - "tasks": "Pick up the cleaning cloth", + "tasks": "Turn the bottle to the front side.", "objects": [ { - "object_name": "faucet", - "level1": "tool", - "level2": "faucet", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "sponge", + "object_name": "cleaner", "level1": "daily_necessities", - "level2": "sponge", + "level2": "cleaner", "level3": null, "level4": null, "level5": null - }, - { - "object_name": "cutting_board", - "level1": "tool", - "level2": "cutting_board", + } + ], + "operation_platform_height": null, + "frame_range": "0-162075", + "dataset_size": "8.3GB", + "statistics": { + "total_episodes": 444, + "total_frames": 162075, + "total_tasks": 1, + "total_videos": 1332, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "3cc917ac-539a-404f-be76-b82846c01668", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Turn the bottle to the front side.", + "Pick up the bottle from the table.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_pass_the_cleaner_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_pass_the_cleaner_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges": { + "path": "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges", + "dataset_name": "storage_for_building_blocks_and_beauty_sponges", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Graasp the bullet on the plate and with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "sink", + "object_name": "plastic_bullets", + "level1": "toy", + "level2": "plastic_bullets", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", "level1": "container", - "level2": "sink", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "building_blocks", + "level1": "toy", + "level2": "building_blocks", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sponge", + "level1": "daily_necessities", + "level2": "sponge", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mouse_box", + "level1": "container", + "level2": "mouse_box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "beverage", + "level1": "juice", + "level2": "beverage", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "wet_wipes", + "level1": "daily_necessities", + "level2": "wet_wipes", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-156103", - "dataset_size": "6.9GB", + "operation_platform_height": 77.2, + "frame_range": "0-33906", + "dataset_size": "1.0GB", "statistics": { - "total_episodes": 97, - "total_frames": 156103, - "total_tasks": 1, - "total_videos": 291, + "total_episodes": 150, + "total_frames": 33906, + "total_tasks": 3, + "total_videos": 600, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "5321a05d-2861-4198-a91f-b238e2567ee9", + "dataset_uuid": "be857fee-79ab-4aaa-b319-7037bc68d506", "language": [ "en", "zh" @@ -7233,14 +8387,21 @@ "robotics" ], "sub_tasks": [ - "Pick up the cleaning cloth", - "abnormal", - "Turn on the tap", - "Put down the cutting board", - "Put down the cleaning cloth", - "Pick up the cutting board", - "Turn off the tap", - "Scrub the cutting board underwater", + "Graasp the bullet on the plate and with the left gripper", + "Abnormal", + "Place the mouse box into the plate with the right gripper", + "Grasp the Vitamin B water in the plate with the left gripper", + "Place the wet wipes into the plate with the right gripper", + "Place the bullet on the table with the left gripper", + "Grasp the mouse box with the right gripper", + "Place the sponge on the table with the left gripper", + "Place the Vitamin B water on the table with the left gripper", + "Static", + "Graasp the green rectangular block with the right gripper", + "End", + "Grasp the sponge in the plate with the left gripper", + "Grasp the wet wipes with the right gripper", + "Place the green rectangular block on the plate with the right gripper", "null" ], "annotations": { @@ -7278,15 +8439,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_washing_board_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_washing_board_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle": { - "path": "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle", - "dataset_name": "storage_remote_control_clip_box_water_bottle", + "Galbot_g1_steamer_storage_baozi_d": { + "path": "Galbot_g1_steamer_storage_baozi_d", + "dataset_name": "steamer_storage_baozi_d", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ @@ -7294,7 +8455,7 @@ "pick", "place" ], - "tasks": "Place the water bottle into the cardboard box with the right gripper", + "tasks": "Grasp the pot lid with left gripper", "objects": [ { "object_name": "table", @@ -7305,43 +8466,51 @@ "level5": null }, { - "object_name": "remote_control_gripper", - "level1": "tool", - "level2": "remote_control_gripper", + "object_name": "baozi", + "level1": "food", + "level2": "baozi", "level3": null, "level4": null, "level5": null }, { - "object_name": "mineral_water_bottle", - "level1": "container", - "level2": "mineral_water_bottle", + "object_name": "steamer", + "level1": "cookware", + "level2": "steamer", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "container", - "level2": "box", + "object_name": "pot_lid", + "level1": "daily_necessities", + "level2": "pot_lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-9890", - "dataset_size": "478.8MB", + "operation_platform_height": null, + "frame_range": "0-992823", + "dataset_size": "16.7GB", "statistics": { - "total_episodes": 47, - "total_frames": 9890, + "total_episodes": 969, + "total_frames": 992823, "total_tasks": 1, - "total_videos": 188, + "total_videos": 2907, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "993b81b9-2ebd-44d7-933c-d6d77b2851db", + "dataset_uuid": "6476bc25-2a08-4c26-98c9-e84875c9b667", "language": [ "en", "zh" @@ -7350,15 +8519,12 @@ "robotics" ], "sub_tasks": [ - "Place the water bottle into the cardboard box with the right gripper", - "End", - "Static", - "Lift the water bottle with the right gripper", - "Grasp the remote control clip with the left gripper ", - "Lift the remote control clip with the left gripper ", - "Place the remote control clip into the cardboard box with the left gripper", + "Grasp the pot lid with left gripper", "Abnormal", - "Grasp the water bottle with the right gripper", + "Place the pot lid on the steamer with left gripper", + "End", + "Place the baozi on the steamer with right gripper", + "Grasp the baozi in the plate with right gripper", "null" ], "annotations": { @@ -7396,510 +8562,234 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Galbot_g1_steamer_storage_baozi_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Galbot_g1_steamer_storage_baozi_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_stack_bowl": { + "R1_Lite_make_a_landline_call": { + "path": "R1_Lite_make_a_landline_call", + "dataset_name": "make_a_landline_call", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Pick up the desk phone handset", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "furnitureixed_line_telephone", + "level1": "communication_equipment", + "level2": "furnitureixed_line_telephone", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-86262", + "dataset_size": "5.9GB", + "statistics": { + "total_episodes": 115, + "total_frames": 86262, + "total_tasks": 1, + "total_videos": 345, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "0fc5b260-c949-49ab-8963-c0869de35749", + "language": [ + "en", + "zh" + ], "task_categories": [ "robotics" ], - "language": [ - "en" + "sub_tasks": [ + "Pick up the desk phone handset", + "End the call using the dial pad", + "Put the handset back", + "Dial the number", + "null" ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_make_a_landline_call_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_make_a_landline_call_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_hotel_services_c": { + "path": "leju_robot_hotel_services_c", + "dataset_name": "hotel_services_c", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_stack_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.", + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Hand the room key to the person.", "objects": [ { - "object_name": "bowl", - "level1": "plastic_bowls", - "level2": "bowl", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "put the small bowl into the big bowl by hand." - ], - "sub_tasks": [ - { - "subtask": "Grasp the white bowl with the left gripper", - "subtask_index": 0 - }, - { - "subtask": "Abnormal", - "subtask_index": 1 - }, - { - "subtask": "Place the white bowl on the pink bowl with the left gripper", - "subtask_index": 2 }, { - "subtask": "End", - "subtask_index": 3 + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Static", - "subtask_index": 4 + "object_name": "card", + "level1": "nfc", + "level2": "card", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 5 + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", + "level3": null, + "level4": null, + "level5": null } ], - "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" - ], + "operation_platform_height": null, + "frame_range": "0-235148", + "dataset_size": "15.6GB", "statistics": { - "total_episodes": 50, - "total_frames": 9073, - "fps": 30, - "total_tasks": 6, - "total_videos": 200, + "total_episodes": 334, + "total_frames": 235148, + "total_tasks": 1, + "total_videos": 1002, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "339.42 MB" + "fps": 30 }, - "frame_num": 9073, - "dataset_size": "339.42 MB", - "data_structure": "Airbot_MMK2_Airbot_MMK2_stack_bowl_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_front_rgb\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", - "splits": { - "train": "0:49" - }, - "features": { - "observation.images.cam_head_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_left_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_front_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.state": { - "dtype": "float32", - "shape": [ - 36 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" - ] - }, - "action": { - "dtype": "float32", - "shape": [ - 36 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" - ] - }, - "timestamp": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": null - }, - "frame_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "episode_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "task_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "subtask_annotation": { - "names": null, - "shape": [ - 5 - ], - "dtype": "int32" - }, - "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" - } + "dataset_uuid": "6caaa6a8-f638-4f21-89e1-89725c297ba7", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Hand the room key to the person.", + "Place the ID card on the card reader.", + "Take the ID card from the person's hand.", + "Pick up the room key from the key card box.", + "Hand the ID card to the person.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } ] }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_hotel_services_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_moving_parts_j": { - "path": "leju_robot_moving_parts_j", - "dataset_name": "moving_parts_j", + "AgiBot-g1_box_storage_b": { + "path": "AgiBot-g1_box_storage_b", + "dataset_name": "box_storage_b", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "place", + "pick" ], - "tasks": "Move to the initial position of the workbench.", + "tasks": "Place the mouse and the power cord paper box into the container.", "objects": [ { "object_name": "table", @@ -7910,35 +8800,27 @@ "level5": null }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", + "object_name": "box", + "level1": "container", + "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-223023", - "dataset_size": "13.9GB", + "frame_range": "0-49301", + "dataset_size": "19.7GB", "statistics": { - "total_episodes": 153, - "total_frames": 223023, + "total_episodes": 96, + "total_frames": 49301, "total_tasks": 1, - "total_videos": 459, + "total_videos": 768, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "a7584581-99dc-4ffb-bc23-e846841a55b7", + "dataset_uuid": "acb66e80-45d3-413b-829d-ca92e763d418", "language": [ "en", "zh" @@ -7947,16 +8829,8 @@ "robotics" ], "sub_tasks": [ - "Move to the initial position of the workbench.", - "Grasp the gray part with right gripper", - "Insert the small component into the corresponding slot on the workbench.", - "Move to the table behind body", - "Grasp the white part with right gripper", - "Place the gray part on the table with right gripper", - "Place the white part on the table with right gripper", - "End", - "Pick up the small component from the shelf.", - "Bring the small component to the front of the workbench.", + "Place the mouse and the power cord paper box into the container.", + "Pick up the mouse and the power cord paper box.", "null" ], "annotations": { @@ -7994,12 +8868,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_box_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_box_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_storage_wet_tissue_and_building_block": { - "path": "AIRBOT_MMK2_storage_wet_tissue_and_building_block", - "dataset_name": "storage_wet_tissue_and_building_block", + "AIRBOT_MMK2_open_notebook": { + "path": "AIRBOT_MMK2_open_notebook", + "dataset_name": "open_notebook", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -8007,10 +8881,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "open", + "hold" ], - "tasks": "Place the arch-shaped block on the white board with the right gripper", + "tasks": "Static", "objects": [ { "object_name": "table", @@ -8021,43 +8895,27 @@ "level5": null }, { - "object_name": "wet_tissue", - "level1": "tool", - "level2": "wet_tissue", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "building_block", - "level1": "toy", - "level2": "building_block", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "platform", - "level1": "container", - "level2": "platform", + "object_name": "notebook", + "level1": "office_supplies", + "level2": "notebook", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-11526", - "dataset_size": "335.2MB", + "frame_range": "0-11734", + "dataset_size": "432.3MB", "statistics": { - "total_episodes": 47, - "total_frames": 11526, + "total_episodes": 50, + "total_frames": 11734, "total_tasks": 1, - "total_videos": 188, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "1479380b-b15a-4f01-b1f7-6c3842a45d84", + "dataset_uuid": "f7156fc6-87bb-4662-b1ff-9cf8de2c4742", "language": [ "en", "zh" @@ -8066,12 +8924,12 @@ "robotics" ], "sub_tasks": [ - "Place the arch-shaped block on the white board with the right gripper", - "Grasp the wet wipe with the left gripper", - "Place the wet wipe on the white board with the left gripper", + "Static", "End", - "Grasp the arch-shaped block with the right gripper", - "Abnormal", + "Release the laptop with the right gripper", + "Press the laptop with the right gripper", + "Open the laptop with the left gripper", + "Grasp the laptop with the left gripper", "null" ], "annotations": { @@ -8109,12 +8967,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_open_notebook_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_make_hamburger": { - "path": "Cobot_Magic_make_hamburger", - "dataset_name": "make_hamburger", + "Cobot_Magic_the_plate_holds_the_vegetables": { + "path": "Cobot_Magic_the_plate_holds_the_vegetables", + "dataset_name": "the_plate_holds_the_vegetables", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -8125,7 +8983,7 @@ "place", "pick" ], - "tasks": "Place the purple cabbage on the cutlet with the left gripper", + "tasks": "Place the pumpkin on the plate with right gripper", "objects": [ { "object_name": "table", @@ -8136,25 +8994,9 @@ "level5": null }, { - "object_name": "cheese", - "level1": "food", - "level2": "cheese", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lettuce", - "level1": "food", - "level2": "lettuce", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread", + "object_name": "vegetables", "level1": "food", - "level2": "bread", + "level2": "vegetables", "level3": null, "level4": null, "level5": null @@ -8168,43 +9010,27 @@ "level5": null }, { - "object_name": "sliced_bread", - "level1": "food", - "level2": "sliced_bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "meat_pie", - "level1": "food", - "level2": "meat_pie", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tomato_slices", - "level1": "vegetable", - "level2": "tomato_slices", + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-1591383", - "dataset_size": "46.7GB", + "operation_platform_height": null, + "frame_range": "0-179090", + "dataset_size": "8.5GB", "statistics": { - "total_episodes": 3044, - "total_frames": 1591383, - "total_tasks": 4, - "total_videos": 12176, - "total_chunks": 4, + "total_episodes": 505, + "total_frames": 179090, + "total_tasks": 6, + "total_videos": 1515, + "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "50b8b2d7-4195-4264-a972-36006de4241a", + "dataset_uuid": "3ce5fdfc-c006-40f2-95d9-16a38b9e6337", "language": [ "en", "zh" @@ -8213,53 +9039,36 @@ "robotics" ], "sub_tasks": [ - "Place the purple cabbage on the cutlet with the left gripper", - "Pick up the tomato slice with the left gripper", - "Right pick up the patty.", - "Right place the lettuce leaf on the bread slice.", - "Right place the patty on the tomato slice.", - "Place the hamburger lid on the cutlet with the right gripper", - "end", - "Pick up the bread slices and place them on the tray with the left gripper", - "Pick up the purple cabbage with the left gripper", - "Left pick up the bottom bread slice.", - "Place the lettuce leaf on the bread slice with the right gripper", - "Pick up the bread slice with the left gripper", - "Left pick up the cheese slice.", - "Discard.", - "Pick up the cheese slice with the right gripper", - "Pick up the tomato slice with the right gripper", - "Place the hamburger lid on the cheese slice with the right gripper", - "Left place the bottom bread slice on the tray.", - "Left place the tomato slice on the lettuce leaf.", + "Place the pumpkin on the plate with right gripper", + "Place the radish on the plate with right gripper", + "Place the potato on the plate with left gripper", + "Place the bell pepper on the plate with right gripper", + "Place the eggplant on the plate with right gripper", + "Place the eggplant on the plate with left gripper", + "Grasp the bell pepper with left gripper", + "End", + "Grasp the bell pepper with right gripper", + "Place the bell pepper on the plate with left gripper", + "Grasp the bitter melon with left gripper", + "Grasp the eggplant with right gripper", + "Grasp the potato with left gripper", "Abnormal", - "Place the purple cabbage on the tomato slice with the left gripper", - "Place the tomato slice on the lettuce leaf with the right gripper", - "Left pick up the tomato slice.", - "Pick up the lettuce leaf with the right gripper", - "Place the tomato slice on the lettuce leaf with the left gripper", - "Place the hamburger lid on the purple cabbage with the right gripper", - "Place the tomato slice on the bread slice with the right gripper", - "Place the cutlet on the tomato slice with the right gripper", - "Place the hamburger lid on the cutlet slice with the left gripper", - "Place the cheese slice on the cutlet with the left gripper", - "Place the bread slice on the tray with the left gripper", - "Place the cutlet on the lettuce leaf with the right gripper", - "Left place the cheese slice on the patty.", - "Place the hamburger lid on the cheese slice with the left gripper", - "Pick up the cutlet with the right gripper", - "Left place the bread on the tray.", - "Pick up the hamburger lid with the right gripper", - "Place the cheese slice on the cutlet with the right gripper", - "Pick up the hamburger lid with the left gripper", - "Right pick up the top bread slice.", - "Pick up the meat patty and place it on top of the tomato with the right gripper", - "Pick up the cheese slice with the left gripper", - "Right pick up the lettuce leaf.", - "Right place the lettuce leaf on the bottom bread.", - "Left pick up the bottom bread.", - "Right place the top bread slice on the cheese slice.", - "Place the tomato slice on the bread slice with the left gripper", + "Place the radish on the plate with left gripper", + "Grasp the bitter melon with right gripper", + "Grasp the eggplant with left gripper", + "Place the pumpkin on the plate with left gripper", + "Place the carrot on the plate with right gripper", + "Place the carrot on the plate with left gripper", + "Grasp the carrot with left gripper", + "Grasp the radish with left gripper", + "Place the bitter melon on the plate with left gripper", + "Grasp the pumpkin with left gripper", + "Grasp the radish with right gripper", + "Grasp the carrot with right gripper", + "Grasp the potato with right gripper", + "Place the potato on the plate with right gripper", + "Grasp the pumpkin with right gripper", + "Place the bitter melon on the plate with right gripper", "null" ], "annotations": { @@ -8297,23 +9106,25 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ ├── chunk-001/\n│ │ ├── episode_001000.parquet\n│ │ ├── episode_001001.parquet\n│ │ ├── episode_001002.parquet\n│ │ ├── episode_001003.parquet\n│ │ ├── episode_001004.parquet\n│ │ └── (...)\n│ ├── chunk-002/\n│ │ ├── episode_002000.parquet\n│ │ ├── episode_002001.parquet\n│ │ ├── episode_002002.parquet\n│ │ ├── episode_002003.parquet\n│ │ ├── episode_002004.parquet\n│ │ └── (...)\n│ └── chunk-003/\n│ ├── episode_003000.parquet\n│ ├── episode_003001.parquet\n│ ├── episode_003002.parquet\n│ ├── episode_003003.parquet\n│ ├── episode_003004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── chunk-001/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── chunk-002/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_002000.mp4\n │ ├── episode_002001.mp4\n │ ├── episode_002002.mp4\n │ ├── episode_002003.mp4\n │ ├── episode_002004.mp4\n │ └── (...)\n └── chunk-003/\n ├── observation.images.cam_high_realsense_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_003000.mp4\n ├── episode_003001.mp4\n ├── episode_003002.mp4\n ├── episode_003003.mp4\n ├── episode_003004.mp4\n └── (...)", - "structure": "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ ├── chunk-001/\n│ │ ├── episode_001000.parquet\n│ │ ├── episode_001001.parquet\n│ │ ├── episode_001002.parquet\n│ │ ├── episode_001003.parquet\n│ │ ├── episode_001004.parquet\n│ │ └── (...)\n│ ├── chunk-002/\n│ │ ├── episode_002000.parquet\n│ │ ├── episode_002001.parquet\n│ │ ├── episode_002002.parquet\n│ │ ├── episode_002003.parquet\n│ │ ├── episode_002004.parquet\n│ │ └── (...)\n│ └── chunk-003/\n│ ├── episode_003000.parquet\n│ ├── episode_003001.parquet\n│ ├── episode_003002.parquet\n│ ├── episode_003003.parquet\n│ ├── episode_003004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── chunk-001/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── chunk-002/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_002000.mp4\n │ ├── episode_002001.mp4\n │ ├── episode_002002.mp4\n │ ├── episode_002003.mp4\n │ ├── episode_002004.mp4\n │ └── (...)\n └── chunk-003/\n ├── observation.images.cam_high_realsense_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_003000.mp4\n ├── episode_003001.mp4\n ├── episode_003002.mp4\n ├── episode_003003.mp4\n ├── episode_003004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_the_plate_holds_the_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_pick_apple_a": { - "path": "G1edu-u3_pick_apple_a", - "dataset_name": "pick_apple_a", + "RMC-AIDA-L_glasses_storage": { + "path": "RMC-AIDA-L_glasses_storage", + "dataset_name": "glasses_storage", "robot_type": "", "end_effector_type": [ - "three_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", "pick", + "fold", + "close", "place" ], - "tasks": "End", + "tasks": "Place the glasses case in the center of the table with your left hand.", "objects": [ { "object_name": "table", @@ -8324,35 +9135,35 @@ "level5": null }, { - "object_name": "apple", - "level1": "fruit", - "level2": "apple", + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { - "object_name": "board", - "level1": "material", - "level2": "board", + "object_name": "glasses", + "level1": "daily_necessities", + "level2": "glasses", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-15439", - "dataset_size": "208.4MB", + "operation_platform_height": 77.2, + "frame_range": "0-861465", + "dataset_size": "8.6GB", "statistics": { - "total_episodes": 40, - "total_frames": 15439, - "total_tasks": 1, - "total_videos": 40, + "total_episodes": 990, + "total_frames": 861465, + "total_tasks": 4, + "total_videos": 2970, "total_chunks": 1, - "chunks_size": 40, + "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "6afbbc46-1a5f-434d-bfe5-7a7ae32db479", + "dataset_uuid": "3f805357-8df7-41c3-aa00-a08b08e0915c", "language": [ "en", "zh" @@ -8361,9 +9172,24 @@ "robotics" ], "sub_tasks": [ - "End", - "Grasp the apple and lift it to the center of the view with right gripper", - "Grasp the apple and lift it to the center of the view with left gripper", + "Place the glasses case in the center of the table with your left hand.", + "Grab the glasses case with your left hand.", + "Lift the glasses with your right hand.", + "Put the glasses into the case with your right hand.", + "Discard.", + "Grab the eyeglass frame with your right hand.", + "Put the glasses into the case with your left hand.", + "end", + "Place the glasses on the table with your left hand.", + "Close the glasses case with your left hand.", + "Grab the frame with your right hand.", + "Lift the glasses with your left hand.", + "Fold the frame with your right hand.", + "Place the glasses case in the center of the table with your right hand.", + "Close the glasses case with your right hand.", + "Fold the frame with your left hand.", + "Grab the glasses with your left hand.", + "Grab the glasses case with your right hand.", "null" ], "annotations": { @@ -8401,62 +9227,73 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_pick_apple_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_apple_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_glasses_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_glasses_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_storage_tissue_paper": { - "path": "AIRBOT_MMK2_storage_tissue_paper", - "dataset_name": "storage_tissue_paper", + "R1_Lite_washing_board": { + "path": "R1_Lite_washing_board", + "dataset_name": "washing_board", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", + "pick", "place", - "pick" + "open", + "wipe", + "close" ], - "tasks": "Static", + "tasks": "Pick up the cleaning cloth", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "faucet", + "level1": "tool", + "level2": "faucet", "level3": null, "level4": null, "level5": null }, { - "object_name": "tissue_paper", + "object_name": "sponge", "level1": "daily_necessities", - "level2": "tissue_paper", + "level2": "sponge", "level3": null, "level4": null, "level5": null }, { - "object_name": "basin", + "object_name": "cutting_board", + "level1": "tool", + "level2": "cutting_board", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sink", "level1": "container", - "level2": "basin", + "level2": "sink", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-6980", - "dataset_size": "211.2MB", + "operation_platform_height": null, + "frame_range": "0-156103", + "dataset_size": "6.9GB", "statistics": { - "total_episodes": 50, - "total_frames": 6980, + "total_episodes": 97, + "total_frames": 156103, "total_tasks": 1, - "total_videos": 200, + "total_videos": 291, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "22dc3be9-588c-4288-b3a3-5176c69a5f71", + "dataset_uuid": "5321a05d-2861-4198-a91f-b238e2567ee9", "language": [ "en", "zh" @@ -8465,13 +9302,14 @@ "robotics" ], "sub_tasks": [ - "Static", - "Place the tissue into the brown basin with the left gripper", - "End", - "Abnormal", - "Place the tissue into the brown basin with the right gripper", - "Grasp the tissue with the right gripper", - "Grasp the tissue with the left gripper", + "Pick up the cleaning cloth", + "abnormal", + "Turn on the tap", + "Put down the cutting board", + "Put down the cleaning cloth", + "Pick up the cutting board", + "Turn off the tap", + "Scrub the cutting board underwater", "null" ], "annotations": { @@ -8509,3713 +9347,859 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_washing_board_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_washing_board_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_stack_baskets": { - "path": "RMC-AIDA-L_stack_baskets", - "dataset_name": "stack_baskets", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [], - "tasks": "Pick up the light basket with the right gripper", - "objects": [], - "operation_platform_height": 77.2, - "frame_range": "0-278342", - "dataset_size": "3.8GB", - "statistics": { - "total_episodes": 484, - "total_frames": 278342, - "total_tasks": 2, - "total_videos": 1452, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "d4c26606-f766-48ca-befd-dbdeead83a95", - "language": [ - "en", - "zh" - ], + "Agilex_Cobot_Magic_move_object_black_tablecloth": { "task_categories": [ "robotics" ], - "sub_tasks": [ - "Pick up the light basket with the right gripper", - "Place the light basket in the center of the table with left gripper", - "Pick up the dark basket with the left gripper", - "Pick up the dark basket with the right gripper", - "abnormal", - "Grasp the dark basket with right gripper", - "Place the dark basket in the center of view with the left gripper", - "Pick up the light basket with the left gripper", - "End", - "Place the dark basket on the light basket with right gripper", - "Place the light basket in the center of view with the left gripper", - "Place the dark basket on the light basket with the right gripper", - "Grasp the light basket with left gripper", - "Place the light basket on the dark basket with the right gripper", - "null" + "language": [ + "en" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "RMC-AIDA-L_stack_baskets_qced_hardlink/\n├── @eaDir/\n│ └── .DS_Store@SynoResource\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── @eaDir/\n│ │ └── .DS_Store@SynoResource\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_stack_baskets_qced_hardlink/\n├── @eaDir/\n│ └── .DS_Store@SynoResource\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── @eaDir/\n│ │ └── .DS_Store@SynoResource\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_pick_plastic_bowl_ad": { - "path": "G1edu-u3_pick_plastic_bowl_ad", - "dataset_name": "pick_plastic_bowl_ad", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick" + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } ], - "tasks": "Grasp the plastic bowl and lift it to the center of the view with left gripper", + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_move_object_black_tablecloth", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "commercial & convenience", + "level2": "supermarket", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { "object_name": "table", - "level1": "furniture", + "level1": "home_storage", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "plastic_bowl", - "level1": "container", - "level2": "plastic_bowl", + "object_name": "black_table_cloths", + "level1": "laboratory_supplies", + "level2": "black_table_cloths", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-10038", - "dataset_size": "144.0MB", - "statistics": { - "total_episodes": 32, - "total_frames": 10038, - "total_tasks": 1, - "total_videos": 32, - "total_chunks": 1, - "chunks_size": 33, - "fps": 30 - }, - "dataset_uuid": "2efbcfc7-6d0c-4d2f-873c-534fe35c6c26", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the plastic bowl and lift it to the center of the view with left gripper", - "End", - "Grasp the plastic bowl and lift it to the center of the view with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_battery_storage_c": { - "path": "AgiBot-g1_battery_storage_c", - "dataset_name": "battery_storage_c", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "End", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "waffle", + "level1": "food", + "level2": "waffle", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "container", - "level2": "box", + "object_name": "green_lemon", + "level1": "food", + "level2": "green_lemon", "level3": null, "level4": null, "level5": null }, { - "object_name": "battery", - "level1": "electronic_products", - "level2": "battery", + "object_name": "eggplant", + "level1": "food", + "level2": "eggplant", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-34166", - "dataset_size": "18.3GB", - "statistics": { - "total_episodes": 57, - "total_frames": 34166, - "total_tasks": 1, - "total_videos": 456, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "b2a4e622-affe-407e-9e15-b94e3a5cf225", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Grab and lift the power supply from the large box.", - "Place the battery on the shelf", - "Grasp the battery", - "Place the power supply on the operating table.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_building_block_storage": { - "path": "AIRBOT_MMK2_building_block_storage", - "dataset_name": "building_block_storage", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the red cylinder in the box with the right gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "chewing_gum", + "level1": "food", + "level2": "chewing_gum", "level3": null, "level4": null, "level5": null }, { - "object_name": "building_block", - "level1": "toy", - "level2": "building_block", + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { - "object_name": "toy_circle", - "level1": "toy", - "level2": "toy_circle", + "object_name": "mango", + "level1": "food", + "level2": "mango", "level3": null, "level4": null, "level5": null }, { - "object_name": "building_block_base", - "level1": "toy", - "level2": "building_block_base", + "object_name": "chewing_gum", + "level1": "food", + "level2": "chewing_gum", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "container", - "level2": "box", + "object_name": "mint_candy", + "level1": "food", + "level2": "mint_candy", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "mangosteen", + "level1": "food", + "level2": "mangosteen", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-39347", - "dataset_size": "1.4GB", - "statistics": { - "total_episodes": 246, - "total_frames": 39347, - "total_tasks": 5, - "total_videos": 984, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "55a64137-7092-451d-8a70-b22ff2383b33", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the red cylinder in the box with the right gripper", - "Place the yellow block in the blue circle with the left gripper", - "Place the green coil on the wooden pillar with the right gripper", - "Grasp the green rectangular block on the plate with the right gripper", - "Place the yellow block in the blue circle with the right gripper", - "End", - "Grasp the red cylinder with the right gripper", - "Place green rectangular block on the table with the right gripper", - "Grasp the yellow block with the left gripper", - "Grasp the green coil with the right gripper", - "Abnormal", - "Grasp the green cylinder with the left gripper", - "Grasp the yellow block with the rightt gripper", - "Grasp the red rectangular block on the plate with the left gripper", - "Place the green cylinder in the box with the left gripper", - "Place red rectangular block on the table with the left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_building_block_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_building_block_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_drawer_storage_mineral_water": { - "path": "Cobot_Magic_drawer_storage_mineral_water", - "dataset_name": "drawer_storage_mineral_water", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "pull", - "push" - ], - "tasks": "Open the drawer.", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "orange", + "level1": "food", + "level2": "orange", "level3": null, "level4": null, "level5": null }, { - "object_name": "mineral_water", - "level1": "drink", - "level2": "mineral_water", + "object_name": "bread", + "level1": "food", + "level2": "bread", "level3": null, "level4": null, "level5": null }, { - "object_name": "drawer", - "level1": "container", - "level2": "drawer", + "object_name": "banana", + "level1": "food", + "level2": "banana", "level3": null, - "level4": null, + "level4": "Fruit cake", "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-55966", - "dataset_size": "944.2MB", - "statistics": { - "total_episodes": 99, - "total_frames": 55966, - "total_tasks": 1, - "total_videos": 297, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 50 - }, - "dataset_uuid": "b3ab23c8-c660-442b-a379-1dad52a7e701", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Open the drawer.", - "Place the water bottle inside the drawer.", - "Close the drawer.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_left_capture_part": { - "path": "AgiBot-g1_left_capture_part", - "dataset_name": "left_capture_part", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp" - ], - "tasks": "Pick up the front USB bracket from the feeding area.", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "cake", + "level1": "food", + "level2": "cake", "level3": null, "level4": null, "level5": null }, { - "object_name": "part", - "level1": "tool", - "level2": "part", + "object_name": "beef_cheeseburger", + "level1": "food", + "level2": "beef_cheeseburger", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "bowl", + "level1": "kitchen_supplies", + "level2": "bowl", "level3": null, "level4": null, "level5": null }, { - "object_name": "black_container", - "level1": "container", - "level2": "black_container", + "object_name": "pan", + "level1": "kitchen_supplies", + "level2": "pan", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-174563", - "dataset_size": "97.3GB", - "statistics": { - "total_episodes": 464, - "total_frames": 174563, - "total_tasks": 1, - "total_videos": 3712, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "66d07878-2211-48d2-8cd0-1df8f2cd83a3", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick up the front USB bracket from the feeding area.", - "Place the front USB bracket into the box.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_take_clothes_out_of_the_washing_machine": { - "path": "R1_Lite_take_clothes_out_of_the_washing_machine", - "dataset_name": "take_clothes_out_of_the_washing_machine", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Press the washing machine switch", - "objects": [ + }, { - "object_name": "washing_machine", - "level1": "electrical_appliances", - "level2": "washing_machine", + "object_name": "small_teapot", + "level1": "kitchen_supplies", + "level2": "small_teapot", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", + "object_name": "small_teacup", + "level1": "kitchen_supplies", + "level2": "small_teacup", "level3": null, "level4": null, "level5": null }, { - "object_name": "cloth", - "level1": "clothing", - "level2": "cloth", + "object_name": "paper_ball", + "level1": "trash", + "level2": "paper_ball", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-238333", - "dataset_size": "16.1GB", - "statistics": { - "total_episodes": 114, - "total_frames": 238333, - "total_tasks": 1, - "total_videos": 342, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "75315916-19f4-400c-99a4-2bd123e2a42a", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Press the washing machine switch", - "Close the washing machine door with the right hand", - "Open the lid of the washing machine", - "Close the washing machine door with the left hand", - "Pick a cloth and place it into the basket", - "Place the clothes into the washing machine", - "End", - "Press the washing machine door tightly with the right hand", - "abnormal", - "Pick up the clothes basket and put it beside the washing machine", - "Move to the front of the washing machine", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_move_the_bread": { - "path": "Cobot_Magic_move_the_bread", - "dataset_name": "move_the_bread", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pick the yellow bread on the yellow plate", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "brown_square_towel", + "level1": "daily_necessities", + "level2": "brown_square_towel", "level3": null, "level4": null, "level5": null }, { - "object_name": "bread", - "level1": "food", - "level2": "bread", + "object_name": "black_cylindrical_pen_holder", + "level1": "stationery", + "level2": "black_cylindrical_pen_holder", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-57401", - "dataset_size": "981.4MB", - "statistics": { - "total_episodes": 99, - "total_frames": 57401, - "total_tasks": 1, - "total_videos": 297, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 50 - }, - "dataset_uuid": "0279dfc1-8833-47b1-b5de-c7b01c3aef4c", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick the yellow bread on the yellow plate", - "Place the yellow bread on the table", - "Place the picked object on the yellow plate", - "Grasp the yellow bread on the table", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_move_the_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_move_the_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "RMC-AIDA-L_basket_storage_long_bread": { - "path": "RMC-AIDA-L_basket_storage_long_bread", - "dataset_name": "basket_storage_long_bread", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the long bread into the basket with the left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "pink_long_towel", + "level1": "daily_necessities", + "level2": "pink_long_towel", "level3": null, "level4": null, "level5": null }, { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", + "object_name": "whiteboard_eraser", + "level1": "stationery", + "level2": "whiteboard_eraser", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", + "object_name": "mentholatum_facial_cleanser", + "level1": "daily_necessities", + "level2": "mentholatum_facial_cleanser", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-343253", - "dataset_size": "3.9GB", - "statistics": { - "total_episodes": 753, - "total_frames": 343253, - "total_tasks": 6, - "total_videos": 2259, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "2a54716c-882f-4e89-a882-50b8c7b5b821", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the long bread into the basket with the left gripper", - "Place the long bread into the dark basket with the right gripper", - "Place the light basket in the center of view with the left gripper", - "Place the long bread into the light basket with the right gripper", - "Place the basket in the center of the table with the left gripper", - "Pick up the basket with the left gripper", - "Grasp the long bread with right gripper", - "Place the long bread into the light basket with the left gripper", - "Place the basket in the center of view with the left gripper", - "Pick up the light basket with the left gripper", - "Place the long bread into the dark basket with the left gripper", - "Place the light basket in the center of view with the right gripper", - "Place the dark basket in the center of view with the right gripper", - "Abnormal", - "Move the light basket to the center of view with the left gripper", - "Pick up the basket with the right gripper", - "Place the basket in the center of view with the right gripper", - "Place the long bread in the basket with right gripper", - "End", - "Place the dark basket in the center of view with the left gripper", - "Pick up the light basket with the right gripper", - "Place the long bread into the basket with the right gripper", - "Grasp the basket with the left gripper", - "Static", - "Pick up the long bread with the right gripper", - "Pick up the dark basket with the left gripper", - "Pick up the long bread with the left gripper", - "Pick up the dark basket with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_hotel_services_ah": { - "path": "leju_robot_hotel_services_ah", - "dataset_name": "hotel_services_ah", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pick up the key card from the card box.", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "duck", + "level1": "toys", + "level2": "duck", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "compass", + "level1": "stationery", + "level2": "compass", "level3": null, "level4": null, "level5": null }, { - "object_name": "card", - "level1": "nfc", - "level2": "card", + "object_name": "bowl", + "level1": "kitchen_supplies", + "level2": "bowl", "level3": null, "level4": null, "level5": null }, { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", + "object_name": "blue_long_towel", + "level1": "daily_necessities", + "level2": "blue_long_towel", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-8145", - "dataset_size": "542.6MB", - "statistics": { - "total_episodes": 44, - "total_frames": 8145, - "total_tasks": 1, - "total_videos": 132, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "d6db4bde-0fc4-4f4c-b80a-f12034b9d043", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "the gripper move the object." ], "sub_tasks": [ - "Pick up the key card from the card box.", - "Hand the key card to the target.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_ah_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_ah_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_box_storage_e": { - "path": "AgiBot-g1_box_storage_e", - "dataset_name": "box_storage_e", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Place the mouse and the power cord paper box into the container.", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the XX on the table with the left gripper", + "subtask_index": 0 }, { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the pen container with the right gripper\n", + "subtask_index": 1 }, { - "object_name": "carton", - "level1": "container", - "level2": "carton", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-33264", - "dataset_size": "13.0GB", - "statistics": { - "total_episodes": 58, - "total_frames": 33264, - "total_tasks": 1, - "total_videos": 464, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "6fc368f2-1d50-44e7-ab39-3a3405e14efc", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the mouse and the power cord paper box into the container.", - "Pick up the mouse and the power cord paper box.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_box_storage_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_box_storage_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_moving_parts_a": { - "path": "leju_robot_moving_parts_a", - "dataset_name": "moving_parts_a", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Grasp the gray part with right gripper", - "objects": [ + "subtask": "Grasp the blue bowl with the left gripper\n", + "subtask_index": 2 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the pen container with the right gripper", + "subtask_index": 3 }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the square chewing gum on the table with the left gripper\n", + "subtask_index": 4 }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-557980", - "dataset_size": "34.2GB", - "statistics": { - "total_episodes": 380, - "total_frames": 557980, - "total_tasks": 1, - "total_videos": 1140, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "e595bb4f-5c6e-4271-9364-10c9f3f695b0", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the gray part with right gripper", - "Move to the table behind body", - "Grasp the white part with right gripper", - "Grasp the white part with left gripper", - "Place the gray part on the table with right gripper", - "Place the white part on the table with left gripper", - "Place the white part on the table with right gripper", - "End", - "Move to the initial position at the workbench.", - "Insert the small parts into the corresponding holes on the workbench.", - "Pick up the small parts from the shelf.", - "Move the small parts to the workbench.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_hotel_services_ag": { - "path": "leju_robot_hotel_services_ag", - "dataset_name": "hotel_services_ag", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pick up the key card from the card box.", - "objects": [ + "subtask": "Grasp the pink towel with the left gripper\n", + "subtask_index": 5 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the blue pot on the table with the right gripper\n", + "subtask_index": 6 }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the brown towel on the table with the left gripper\n", + "subtask_index": 7 }, { - "object_name": "card", - "level1": "nfc", - "level2": "card", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the waffle on the table with the left gripper\n", + "subtask_index": 8 }, { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-72556", - "dataset_size": "4.6GB", - "statistics": { - "total_episodes": 428, - "total_frames": 72556, - "total_tasks": 1, - "total_videos": 1284, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "fe6eebfa-58f5-4409-aad8-bc8aa39381cc", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick up the key card from the card box.", - "Hand the key card to the target.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_ag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_ag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Split_aloha_basket_storage_banana": { - "path": "Split_aloha_basket_storage_banana", - "dataset_name": "basket_storage_banana", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "End", - "objects": [ + "subtask": "Place the white duck on the table with the right gripper\n", + "subtask_index": 9 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the white blackboard erasure on the table with the left gripper\n", + "subtask_index": 10 }, { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the compass with the left gripper\n", + "subtask_index": 11 }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-164327", - "dataset_size": "2.8GB", - "statistics": { - "total_episodes": 368, - "total_frames": 164327, - "total_tasks": 1, - "total_videos": 1104, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "e9d8e155-1dc0-4402-b406-4b59d65884c7", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Place the banana in the basket with right gripper", - "Grasp the banana with right gripper", - "Place the basket in the center of the table with the left gripper", - "Grasp the basket with the left gripper", - "Static", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Split_aloha_basket_storage_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_basket_storage_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_classification_of_fruits_and_vegetables": { - "path": "Cobot_Magic_classification_of_fruits_and_vegetables", - "dataset_name": "classification_of_fruits_and_vegetables", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "use the left arm to grab a carrot and put it into the right plate", - "objects": [ + "subtask": "Grasp the green lemon with the right gripper\n", + "subtask_index": 12 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the cyan cup with the left gripper\n", + "subtask_index": 13 }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the blue bowl on the table with the left gripper\n", + "subtask_index": 14 }, { - "object_name": "white_carrot", - "level1": "vegetables", - "level2": "white_carrot", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the mint candy with the right gripper\n", + "subtask_index": 15 }, { - "object_name": "eggplant", - "level1": "vegetables", - "level2": "eggplant", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the mint candy with the left gripper", + "subtask_index": 16 }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-183132", - "dataset_size": "9.7GB", - "statistics": { - "total_episodes": 301, - "total_frames": 183132, - "total_tasks": 4, - "total_videos": 903, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "792e3e06-8f5e-444d-9a30-740d091a9209", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "use the left arm to grab a carrot and put it into the right plate", - "use the right arm to grab a radish and put it into the right plate", - "use the left arm to grab a radish and put it into the right plate", - "use the left arm to grab an eggplant and put it into the left plate", - "use the right arm to grab a chayote and put it into the right plate", - "use the left arm to grab a tomato and put it into the left plate", - "use the right arm to grab a radish and put it into the left plate", - "use the left arm to grab a radish and put it into the left plate", - "use the left arm to grab a chayote and put it into the right plate", - "use the left arm to grab a chayote and put it into the left plate", - "use the right arm to grab an eggplant and put it into the left plate", - "use the left arm to grab an eggplant and put it into the right plate", - "use the right arm to grab a carrot and put it into the right plate", - "use the left arm to grab a carrot and put it into the left plate", - "use the right arm to grab a carrot and put it into the left plate", - "use the right arm to grab a tomato and put it into the left plate", - "use the right arm to grab an eggplant and put it into the right plate", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Split_aloha_basket_storage_long_bread": { - "path": "Split_aloha_basket_storage_long_bread", - "dataset_name": "basket_storage_long_bread", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Grasp the long bread with right gripper", - "objects": [ + "subtask": "Grasp the cyan cup with the right gripper\n", + "subtask_index": 17 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the green lemon with the left gripper\n", + "subtask_index": 18 }, { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the white blackboard erasure\t with the left gripper\n", + "subtask_index": 19 }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-129236", - "dataset_size": "3.7GB", - "statistics": { - "total_episodes": 311, - "total_frames": 129236, - "total_tasks": 1, - "total_videos": 933, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "3edf5fc6-ba54-4b74-901e-ac0b49ed35b3", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the long bread with right gripper", - "Grasp the basket with the left gripper", - "End", - "Place the long bread in the basket with right gripper", - "Place the basket in the center of the table with the left gripper", - "Abnormal", - "Static", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Split_aloha_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_moving_parts_n": { - "path": "leju_robot_moving_parts_n", - "dataset_name": "moving_parts_n", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the black part on the table with right gripper", - "objects": [ + "subtask": "Grasp the white duck with the left gripper\n", + "subtask_index": 20 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the square chewing gum with the left gripper", + "subtask_index": 21 }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the mint candy with the left gripper\n", + "subtask_index": 22 }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-738613", - "dataset_size": "51.0GB", - "statistics": { - "total_episodes": 492, - "total_frames": 738613, - "total_tasks": 1, - "total_videos": 1476, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "45be2265-aabd-465a-ba72-7ad2a60ed23e", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the black part on the table with right gripper", - "Pick up the large material from the shelf.", - "Insert the large material into the corresponding slot on the workbench.", - "End", - "Grasp the black part with right gripper", - "Move the large material to the workbench.", - "Move to the initial position of the shelf.", - "Move to the table behind body", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_n_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_n_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_pick_up_battery": { - "path": "AgiBot-g1_pick_up_battery", - "dataset_name": "pick_up_battery", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "place", - "pick", - "grasp" - ], - "tasks": "Grab the main unit power supply from the containment box.", - "objects": [ + "subtask": "Place the brown towel on the table with the left gripper", + "subtask_index": 23 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the on the table with the right gripper\n", + "subtask_index": 24 }, { - "object_name": "carton", - "level1": "container", - "level2": "carton", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the XX with the right gripper", + "subtask_index": 25 }, { - "object_name": "battery", - "level1": "tool", - "level2": "battery", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-185469", - "dataset_size": "95.3GB", - "statistics": { - "total_episodes": 387, - "total_frames": 185469, - "total_tasks": 1, - "total_videos": 3096, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "16b21b98-c079-4363-863b-54db1f5d5ebe", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grab the main unit power supply from the containment box.", - "Place the main unit power supply in the designated area.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_diamond_storage": { - "path": "AIRBOT_MMK2_diamond_storage", - "dataset_name": "diamond_storage", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "cover" - ], - "tasks": "End", - "objects": [ + "subtask": "Place the blue blackboard erasure on the table with the left gripper\n", + "subtask_index": 26 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the white blackboard erasure on the table with the left gripper", + "subtask_index": 27 }, { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the teapot on the table with the right gripper\n", + "subtask_index": 28 }, { - "object_name": "diamond", - "level1": "mineral", - "level2": "diamond", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-9131", - "dataset_size": "426.8MB", - "statistics": { - "total_episodes": 50, - "total_frames": 9131, - "total_tasks": 1, - "total_videos": 200, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "07392499-4ada-4393-b1db-c07154012f54", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Place the diamond ring in the box with the right gripper", - "Close the lid of the box with the left gripper", - "Grasp the diamond ring with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_diamond_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_diamond_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Split_aloha_plate_storage": { - "path": "Split_aloha_plate_storage", - "dataset_name": "plate_storage", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pass the plate from the left gripper to the right gripper", - "objects": [ + "subtask": "Grasp the white blackboard erasure with the left gripper", + "subtask_index": 29 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the Square chewing gum with the right gripper\n", + "subtask_index": 30 }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the pink towel on the table with the left gripper\n", + "subtask_index": 31 }, { - "object_name": "plate_rack", - "level1": "furniture", - "level2": "plate_rack", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-229687", - "dataset_size": "2.6GB", - "statistics": { - "total_episodes": 499, - "total_frames": 229687, - "total_tasks": 5, - "total_videos": 1497, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "7f2dd151-758c-4265-89b3-5d486f875ef8", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pass the plate from the left gripper to the right gripper", - "Place the plate on the shelf", - "Pass the plate from the right gripper to the left gripper", - "Pick up the plate with the left gripper", - "Pick up the plate with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Split_aloha_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_box_storage_cardboard_box_a": { - "path": "AgiBot-g1_box_storage_cardboard_box_a", - "dataset_name": "box_storage_cardboard_box_a", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "place", - "pick", - "grasp" - ], - "tasks": "Place the mouse and the power cord paper box into the container.", - "objects": [ + "subtask": "Grasp the hard facial cleanser with the right gripper\n", + "subtask_index": 32 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the with the left gripper\n", + "subtask_index": 33 }, { - "object_name": "paper_box", - "level1": "tool", - "level2": "paper_box", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the hard facial cleanser on the table with the right gripper", + "subtask_index": 34 }, { - "object_name": "carton", - "level1": "tool", - "level2": "carton", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-188369", - "dataset_size": "87.9GB", - "statistics": { - "total_episodes": 402, - "total_frames": 188369, - "total_tasks": 1, - "total_videos": 3216, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "15be5a22-893f-4c6d-8562-afa106f6846f", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the mouse and the power cord paper box into the container.", - "Pick up the mouse and the power cord paper box.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_switch_on_and_off_the_central_air_conditioning": { - "path": "R1_Lite_switch_on_and_off_the_central_air_conditioning", - "dataset_name": "switch_on_and_off_the_central_air_conditioning", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Turn off the central air conditioner", - "objects": [ + "subtask": "Grasp the white duck with the left gripper\n", + "subtask_index": 35 + }, { - "object_name": "central_air_conditioning", - "level1": "household_appliances", - "level2": "central_air_conditioning", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-19688", - "dataset_size": "793.3MB", - "statistics": { - "total_episodes": 35, - "total_frames": 19688, - "total_tasks": 1, - "total_videos": 105, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "6d6d5868-e715-41cc-a7df-972218e02479", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Turn off the central air conditioner", - "Press the temperature decrease button", - "Press the temperature increase button", - "Turn on the central air conditioner", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_plate_storage_rabbit_doll": { - "path": "G1edu-u3_plate_storage_rabbit_doll", - "dataset_name": "plate_storage_rabbit_doll", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the rabbit doll into the plate with the left gripper", - "objects": [ + "subtask": "Place the mint candy on the table with the right gripper", + "subtask_index": 36 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the brown towel with the left gripper", + "subtask_index": 37 }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the chocolate with the right gripper", + "subtask_index": 38 }, { - "object_name": "rabbit_doll", - "level1": "toy", - "level2": "rabbit_doll", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-76754", - "dataset_size": "378.4MB", - "statistics": { - "total_episodes": 227, - "total_frames": 76754, - "total_tasks": 1, - "total_videos": 227, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "adde8f5b-b32a-49e8-b684-9f89a37ec8e4", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the rabbit doll into the plate with the left gripper", - "Grasp the rabbit doll with the left gripper", - "End", - "Static", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_plate_storage_rabbit_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.cam_high_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_plate_storage_rabbit_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.cam_high_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "RMC-AIDA-L_box_up_down": { - "path": "RMC-AIDA-L_box_up_down", - "dataset_name": "box_up_down", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Grasp the bandage with right gripper", - "objects": [ + "subtask": "Grasp the brown towel with the right gripper", + "subtask_index": 39 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the mango with the left gripper", + "subtask_index": 40 }, { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-31466", - "dataset_size": "383.7MB", - "statistics": { - "total_episodes": 159, - "total_frames": 31466, - "total_tasks": 2, - "total_videos": 477, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "e095217a-10c3-44e6-9a26-08a1758a1243", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the bandage with right gripper", - "Loosen the box on the table with right gripper", - "Place the box on the table with right gripper", - "Lift the box with left gripper", - "Place the box on the table with left gripper", - "Static", - "End", - "Loosen the box on the table with left gripper", - "Lift the box with right gripper", - "Grasp the bandage with left gripper", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "RMC-AIDA-L_get_water": { - "path": "RMC-AIDA-L_get_water", - "dataset_name": "get_water", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "hold", - "push" - ], - "tasks": "Move the cup beneath the water dispenser nozzle with the right gripper", - "objects": [ + "subtask": "Place the white blackboard erasure on the table with the left gripper\n", + "subtask_index": 41 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the brown towel with the left gripper\n", + "subtask_index": 42 }, { - "object_name": "faucet", - "level1": "tool", - "level2": "faucet", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the mango on the table with the right gripper\n", + "subtask_index": 43 }, { - "object_name": "cup", - "level1": "container", - "level2": "cup", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the brown towel on the table with the left gripper\n", + "subtask_index": 44 }, { - "object_name": "water", - "level1": "drink", - "level2": "water", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-327536", - "dataset_size": "2.8GB", - "statistics": { - "total_episodes": 333, - "total_frames": 327536, - "total_tasks": 3, - "total_videos": 999, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "2a2cc6a7-ac07-494e-9b05-0a437532bdb1", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Move the cup beneath the water dispenser nozzle with the right gripper", - "Close the dispenser valve with the right gripper", - "Open the dispenser valve and fill the cup with water with the right gripper", - "Close the dispenser valve with the left gripper", - "Open the dispenser valve and fill the cup with water with the left gripper", - "end", - "Move the cup beneath the water dispenser nozzle with the left gripper", - "abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "RMC-AIDA-L_get_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_get_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_hotel_services_ab": { - "path": "leju_robot_hotel_services_ab", - "dataset_name": "hotel_services_ab", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ + "subtask": "Place the teapot on the table with the left gripper", + "subtask_index": 45 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the hard facial cleanser with the right gripper", + "subtask_index": 46 }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the pink towel on the table with the right gripper\n", + "subtask_index": 47 }, { - "object_name": "card", - "level1": "nfc", - "level2": "card", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the pink towel with the right gripper\n", + "subtask_index": 48 }, { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-81123", - "dataset_size": "5.2GB", - "statistics": { - "total_episodes": 450, - "total_frames": 81123, - "total_tasks": 1, - "total_videos": 1350, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "e7a6fa76-d4ee-4f1a-b951-26d50fb71f0d", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Take out the room card with right gripper", - "Hand the room card to the guest with right gripper", - "Hand the room card to the target.", - "Pick up the room card from the card holder.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_cup_storage": { - "path": "AIRBOT_MMK2_cup_storage", - "dataset_name": "cup_storage", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the blue cup on the plate with the left gripper", - "objects": [ + "subtask": "Place the waffle on the table with the right gripper", + "subtask_index": 49 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the blue pot on the table with the left gripper\n", + "subtask_index": 50 }, { - "object_name": "cup", - "level1": "container", - "level2": "cup", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the pen container on the table with the right gripper", + "subtask_index": 51 }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-12246", - "dataset_size": "522.9MB", - "statistics": { - "total_episodes": 48, - "total_frames": 12246, - "total_tasks": 1, - "total_videos": 192, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "4f813d8b-217d-4c36-9698-e2c22c0696ae", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the blue cup on the plate with the left gripper", - "Place the purple cup on the blue cup with the right gripper", - "Abnormal", - "End", - "Grasp the purple cup with the right gripper", - "Grasp the blue cup with the left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_cup_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_cup_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_twist_bottle_cap": { - "path": "Cobot_Magic_twist_bottle_cap", - "dataset_name": "twist_bottle_cap", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "twist" - ], - "tasks": "Place the Yili Changqing with the left hand", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the blue pot with the right gripper\n", + "subtask_index": 52 }, { - "object_name": "bottle", - "level1": "container", - "level2": "bottle", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the pen container with the left gripper\n", + "subtask_index": 53 }, { - "object_name": "master_kong_oolong_tea", - "level1": "drink", - "level2": "master_kong_oolong_tea", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the green lemon with the right gripper\n", + "subtask_index": 54 }, { - "object_name": "green_tea", - "level1": "drink", - "level2": "green_tea", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the eggplant with the right gripper", + "subtask_index": 55 }, { - "object_name": "meinianda", - "level1": "drink", - "level2": "meinianda", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the white blackboard erasure\t on the table with the left gripper\n", + "subtask_index": 56 }, { - "object_name": "yili_changqing", - "level1": "drink", - "level2": "yili_changqing", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the eggplant on the table with the left gripper\n", + "subtask_index": 57 }, { - "object_name": "cestbon", - "level1": "drink", - "level2": "cestbon", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-749388", - "dataset_size": "8.7GB", - "statistics": { - "total_episodes": 863, - "total_frames": 749388, - "total_tasks": 9, - "total_videos": 2589, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "c084dcfc-e7a8-4e35-a194-0325296dcd6e", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the Yili Changqing with the left hand", - "Lift the Peach Oolong Tea with the left hand", - "Place the bottle cap on the table with the right hand", - "Move the Peach Oolong Tea from right to left", - "Move from left to right", - "Move the Peach Oolong Tea from left to right", - "Secure the C'estbon with the left hand", - "Move the Mirinda to the right with the left hand", - "Place the bottle on the table with the left gripper", - "Grasp the bottle and move it to the center of the table with the left gripper", - "Move the Mirinda from left to right", - "Move the Mirinda from top to bottom", - "Discard", - "Place the bottle cap on the table", - "End", - "Place the C'estbon with the left hand", - "Move the Mirinda from right to left", - "Move the green tea to the right with the left hand", - "Lift the bottle and move it to the center of the table with the left gripper", - "Grab the green tea with the left hand", - "Secure the Peach Oolong Tea with the left hand", - "Place the Mirinda with the left hand", - "Fix the Yili Changqing on the left", - "Secure the green tea with the left hand", - "Secure the Yili Changqing with the left hand", - "Move the Yili Changqing from left to right", - "Abnormal", - "Place the bottle cap on the right", - "Place the green tea with the left hand", - "Move the Yili Changqing to the right with the left hand", - "Lift the green tea with the left hand", - "Grab the C'estbon with the left hand", - "Move from right to left", - "Unscrew the bottle cap with the right gripper while holding the bottle with the left gripper", - "Secure the Mirinda with the left hand", - "Grab the Yili Changqing with the left hand", - "Lift the Yili Changqing with the left hand", - "Move the C'estbon to the right with the left hand", - "Place the Peach Oolong Tea with the left hand", - "Move the Yili Changqing from right to left", - "Fix the Mirinda on the left", - "Move the Yili Changqing from bottom to top", - "Grab the Peach Oolong Tea with the left hand", - "Move the Peach Oolong Tea to the right with the left hand", - "Move the Yili Changqing from top to bottom", - "Grab the Mirinda with the left hand", - "Twist the bottle cap with the right hand", - "Lift the Mirinda with the left hand", - "Place the bottle cap on the table with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_twist_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_twist_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Agilex_Cobot_Magic_classify_objects_eight": { - "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\"" + "subtask": "Place the green lemon on the table with the left gripper", + "subtask_index": 58 }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_classify_objects_eight", - "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 + "subtask": "Place the XX on the table with the right gripper", + "subtask_index": 59 }, { - "object_name": "brown_basket", - "level1": "home_storage", - "level2": "brown_basket", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 60 }, { - "object_name": "black_basket", - "level1": "food", - "level2": "black_basket", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the white blackboard erasure with the right gripper", + "subtask_index": 61 }, { - "object_name": "bread", - "level1": "food", - "level2": "bread", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the white duck on the table with the left gripper\n", + "subtask_index": 62 }, { - "object_name": "orange", - "level1": "food", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the orange on the table with the left gripper\n", + "subtask_index": 63 }, { - "object_name": "green_lemon", - "level1": "food", - "level2": "green_lemon", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the eggplant with the right gripper\n", + "subtask_index": 64 }, { - "object_name": "pink_clear_plastic_cup", - "level1": "kitchen_supplies", - "level2": "pink_clear_plastic_cup", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the brown towel with the right gripper\n", + "subtask_index": 65 }, { - "object_name": "laundry_detergent", - "level1": "daily_necessities", - "level2": "laundry_detergent", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the square chewing gum on the table with the right gripper\n", + "subtask_index": 66 }, { - "object_name": "mentholatum_facial_cleanser", - "level1": "daily_necessities", - "level2": "Mmentholatum_facial_cleanser", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the compass on the table with the right gripper\n", + "subtask_index": 67 }, { - "object_name": "lemon", - "level1": "food", - "level2": "lemon", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the orange with the left gripper\n", + "subtask_index": 68 }, { - "object_name": "apple", - "level1": "food", - "level2": "apple", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the hard facial cleanser on the table with the left gripper\n", + "subtask_index": 69 }, { - "object_name": "mango", - "level1": "food", - "level2": "mango", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the blue blackboard erasure with the left gripper\n", + "subtask_index": 70 }, { - "object_name": "kiwi_fruit", - "level1": "food", - "level2": "kiwi_fruit", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the brown towel on the table with the right gripper\n", + "subtask_index": 71 }, { - "object_name": "mangosteen", - "level1": "food", - "level2": "mangosteen", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the blue blackboard erasure with the right gripper\n", + "subtask_index": 72 }, { - "object_name": "pear", - "level1": "food", - "level2": "pear", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the eggplant with the left gripper\n", + "subtask_index": 73 }, { - "object_name": "avocado", - "level1": "food", - "level2": "avocado", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the square chewing gum with the right gripper\n", + "subtask_index": 74 }, { - "object_name": "brown_clear_plastic_cup", - "level1": "kitchen_supplies", - "level2": "brown_clear_plastic_cup", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the mango on the table with the left gripper\n", + "subtask_index": 75 }, { - "object_name": "shampoo", - "level1": "daily_necessities", - "level2": "shampoo", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the waffle with the right gripper", + "subtask_index": 76 }, { - "object_name": "deli Water-based_Marker", - "level1": "stationery", - "level2": "deli_Water-based_Marker", - "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": "Grasp the white blackboard erasure\t with the right gripper\n", + "subtask_index": 77 + }, { - "subtask": "Place the pear in the light basket with right gripper", - "subtask_index": 0 + "subtask": "Place the teapot on the table with the left gripper\n", + "subtask_index": 78 }, { - "subtask": "Pick up the shampoo with left gripper", - "subtask_index": 1 + "subtask": "Place the waffle on the table with the right gripper\n", + "subtask_index": 79 }, { - "subtask": "Place the pink marker pen in the dark basket with right gripper", - "subtask_index": 2 + "subtask": "Grasp the mango with the right gripper\n", + "subtask_index": 80 }, { - "subtask": "Pick up the pear with left gripper", - "subtask_index": 3 + "subtask": "Grasp the white blackboard erasure with the left gripper\n", + "subtask_index": 81 }, { - "subtask": "Place the lime in the light basket with right gripper", - "subtask_index": 4 + "subtask": "Grasp the blue pot with the left gripper\n", + "subtask_index": 82 }, { - "subtask": "Place the laundry detergent in the dark basket with right gripper", - "subtask_index": 5 + "subtask": "Place the square chewing gum on the table with the right gripper", + "subtask_index": 83 }, { - "subtask": "Place the mango in the light basket with right gripper", - "subtask_index": 6 + "subtask": "Place the pen container on the table with the right gripper\n", + "subtask_index": 84 }, { - "subtask": "Pick up the light brown cup with left gripper", - "subtask_index": 7 + "subtask": "Place the green lemon on the table with the right gripper\n", + "subtask_index": 85 }, { - "subtask": "Place the orange in the light basket with right gripper", - "subtask_index": 8 + "subtask": "Place the blue blackboard erasure on the table with the right gripper\n", + "subtask_index": 86 }, { - "subtask": "Pick up the dark brown cup with left gripper", - "subtask_index": 9 + "subtask": "Grasp the teapot with the left gripper\n", + "subtask_index": 87 }, { - "subtask": "Place the dark brown cup in the dark basket with left gripper", - "subtask_index": 10 + "subtask": "Place the borwn towel on the table with the right gripper\n", + "subtask_index": 88 }, { - "subtask": "Pick up the light brown cup with right gripper", - "subtask_index": 11 + "subtask": "Place the pen container on the table with the left gripper\n", + "subtask_index": 89 }, { - "subtask": "Pick up pink marker pen with right gripper", - "subtask_index": 12 + "subtask": "Grasp the compass with the left gripper\n", + "subtask_index": 90 }, { - "subtask": "Pick up the lime with left gripper", - "subtask_index": 13 + "subtask": "Grasp the fruit candy with the right gripper\n", + "subtask_index": 91 }, { - "subtask": "Pick up kiwi with left gripper", - "subtask_index": 14 + "subtask": "Place the cyan cup on the table with the left gripper\n", + "subtask_index": 92 }, { - "subtask": "Pick up mango with left gripper", - "subtask_index": 15 + "subtask": "Place the fruit candy on the table with the right gripper\n", + "subtask_index": 93 }, { - "subtask": "Place the shampoo in the dark basket with right gripper", - "subtask_index": 16 + "subtask": "Place the compass on the table with the left gripper\n", + "subtask_index": 94 }, { - "subtask": "Place the dark brown cup in the dark basket with right gripper", - "subtask_index": 17 + "subtask": "Grasp the white duck with the right gripper\n", + "subtask_index": 95 }, { - "subtask": "Pick up the pomegranate with right gripper", - "subtask_index": 18 + "subtask": "Grasp the waffle with the right gripper\n", + "subtask_index": 96 }, { - "subtask": "Pick up the pear with right gripper", - "subtask_index": 19 + "subtask": "Place the blue pot on the table with the left gripper\n", + "subtask_index": 97 }, { - "subtask": "Pick up the dark brown cup with right gripper", - "subtask_index": 20 + "subtask": "Grasp the mango with the left gripper\n", + "subtask_index": 98 }, { - "subtask": "Pick up the red cup with right gripper", - "subtask_index": 21 + "subtask": "Grasp the teapot with the right gripper\n", + "subtask_index": 99 }, { - "subtask": "Place the pomegranate in the light basket with left gripper", - "subtask_index": 22 + "subtask": "Place the teacup on the table with the left gripper\n", + "subtask_index": 100 }, { - "subtask": "Pick up the avocado with right gripper", - "subtask_index": 23 + "subtask": "Grasp the pink towel with the right gripper\n", + "subtask_index": 101 }, { - "subtask": "Pick up the hard facial cleanser with left gripper", - "subtask_index": 24 + "subtask": "Grasp the blue pot with the left gripper\n", + "subtask_index": 102 }, { - "subtask": "Place the Incense box in the dark basket with left gripper", - "subtask_index": 25 - }, - { - "subtask": "Pick up the shampoo with right gripper", - "subtask_index": 26 - }, - { - "subtask": "Place the banana in the light basket with right gripper", - "subtask_index": 27 - }, - { - "subtask": "Place the laundry detergent in the dark basket with left gripper", - "subtask_index": 28 - }, - { - "subtask": "Pick up the orange with right gripper", - "subtask_index": 29 - }, - { - "subtask": "Place the mangosteen in the light basket with right gripper", - "subtask_index": 30 - }, - { - "subtask": "Place the hard facial cleanser in the dark basket with right gripper", - "subtask_index": 31 - }, - { - "subtask": "Pick up Incense box with right gripper", - "subtask_index": 32 - }, - { - "subtask": "Place the red marker in the dark basket with right gripper", - "subtask_index": 33 - }, - { - "subtask": "Pick up the lemon with left gripper", - "subtask_index": 34 - }, - { - "subtask": "Place the banana in the light basket with left gripper", - "subtask_index": 35 - }, - { - "subtask": "Pick up Incense box with left gripper", - "subtask_index": 36 - }, - { - "subtask": "Pick up kiwi with right gripper", - "subtask_index": 37 - }, - { - "subtask": "Pick up the mango with right gripper", - "subtask_index": 38 - }, - { - "subtask": "Place the lemon in the light basket with left gripper", - "subtask_index": 39 - }, - { - "subtask": "Pick up the laundry detergent with left gripper", - "subtask_index": 40 - }, - { - "subtask": "Pick up toothpaste with right gripper", - "subtask_index": 41 - }, - { - "subtask": "Pick up the bread with right gripper", - "subtask_index": 42 - }, - { - "subtask": "Pick up toothpaste with left gripper", - "subtask_index": 43 - }, - { - "subtask": "Place the red cup in the dark basket with left gripper", - "subtask_index": 44 - }, - { - "subtask": "Place the red cup in the dark basket with right gripper", - "subtask_index": 45 - }, - { - "subtask": "Place the lemon in the light basket with right gripper", - "subtask_index": 46 - }, - { - "subtask": "Pick up banana with left gripper", - "subtask_index": 47 - }, - { - "subtask": "Place the avocado in the light basket with right gripper", - "subtask_index": 48 - }, - { - "subtask": "Pick up egg yolk pastry with left gripper", - "subtask_index": 49 - }, - { - "subtask": "Place the light brown cup in the dark basket with left gripper", - "subtask_index": 50 - }, - { - "subtask": "Pick up egg yolk pastry with right gripper", - "subtask_index": 51 - }, - { - "subtask": "Place the orange in the light basket with left gripper", - "subtask_index": 52 - }, - { - "subtask": "Place the hard facial cleanser in the dark basket with left gripper", - "subtask_index": 53 - }, - { - "subtask": "Pick up the lemon with right gripper", - "subtask_index": 54 - }, - { - "subtask": "Place the kiwi in the light basket with right gripper", - "subtask_index": 55 - }, - { - "subtask": "End", - "subtask_index": 56 - }, - { - "subtask": "Pick up gray cup with left gripper", - "subtask_index": 57 + "subtask": "Place the mango on the table with the right gripper\n", + "subtask_index": 103 }, { - "subtask": "Place the pomegranate in the light basket with right gripper", - "subtask_index": 58 + "subtask": "Place the mangosteen on the table with the left gripper", + "subtask_index": 104 }, { - "subtask": "Pick up banana with right gripper", - "subtask_index": 59 + "subtask": "Grasp the square chewing gum with the left gripper\n", + "subtask_index": 105 }, { - "subtask": "Place the blackboard eraser in the dark basket with left gripper", - "subtask_index": 60 + "subtask": "Grasp the square chewing gum with the right gripper", + "subtask_index": 106 }, { - "subtask": "Pick up the red marker with right gripper", - "subtask_index": 61 + "subtask": "Grasp the compass with the right gripper\n", + "subtask_index": 107 }, { - "subtask": "Place the red marker in the dark basket with left gripper", - "subtask_index": 62 + "subtask": "Place the tea cup on the table with the right gripper\n", + "subtask_index": 108 }, { - "subtask": "Place the gray cup in the dark basket with left gripper", - "subtask_index": 63 + "subtask": "Place the teapot on the table with the left gripper\n", + "subtask_index": 109 }, { - "subtask": "Pick up the red cup with left gripper", - "subtask_index": 64 + "subtask": "Grasp the cyan cup with the left gripper\n", + "subtask_index": 110 }, { - "subtask": "Place the kiwi in the light basket with left gripper", - "subtask_index": 65 + "subtask": "Grasp the eggplant with the right gripper\n", + "subtask_index": 111 }, { - "subtask": "Pick up the mangosteen with left gripper", - "subtask_index": 66 + "subtask": "Place the white blackboard erasure on the table with the right gripper", + "subtask_index": 112 }, { - "subtask": "Pick up the orange with left gripper", - "subtask_index": 67 + "subtask": "Place the green lemon on the table with the left gripper\n", + "subtask_index": 113 }, { - "subtask": "Place the mangosteen in the light basket with left gripper", - "subtask_index": 68 + "subtask": "Grasp the hard facial cleanser with the left gripper\n", + "subtask_index": 114 }, { - "subtask": "Place the bread in the light basket with right gripper", - "subtask_index": 69 + "subtask": "Place the white blackboard erasure\t on the table with the right gripper\n", + "subtask_index": 115 }, { - "subtask": "Place the toothpaste in the dark basket with right gripper", - "subtask_index": 70 + "subtask": "Place the mango on the table with the left gripper", + "subtask_index": 116 }, { - "subtask": "Pick up the lime with right gripper", - "subtask_index": 71 + "subtask": "Grasp the tea cup with the right gripper\n", + "subtask_index": 117 }, { - "subtask": "Place the mango in the light basket with left gripper", - "subtask_index": 72 + "subtask": "Grasp the waffle with the left gripper\n", + "subtask_index": 118 }, { - "subtask": "Pick up the mangosteen with right gripper", - "subtask_index": 73 + "subtask": "Grasp the pink towel with the left gripper\n", + "subtask_index": 119 }, { - "subtask": "Place the pink marker pen in the dark basket with left gripper", - "subtask_index": 74 + "subtask": "Place the hard facial cleanser on the table with the right gripper\n", + "subtask_index": 120 }, { - "subtask": "Pick up the red marker with left gripper", - "subtask_index": 75 + "subtask": "Place the eggplant on the table with the right gripper\n", + "subtask_index": 121 }, { - "subtask": "Place the pear in the light basket with left gripper", - "subtask_index": 76 + "subtask": "Place the mint candy on the table with the left gripper\n", + "subtask_index": 122 }, { - "subtask": "Pick up blackboard eraser with right gripper", - "subtask_index": 77 + "subtask": "Grasp the mint candy with the right gripper\n", + "subtask_index": 123 }, { - "subtask": "Place the blackboard eraser in the dark basket with right gripper", - "subtask_index": 78 + "subtask": "Grasp the chocolate with the right gripper\n", + "subtask_index": 124 }, { - "subtask": "Place the shampoo in the dark basket with left gripper", - "subtask_index": 79 + "subtask": "Place the cyan cup on the table with the right gripper\n", + "subtask_index": 125 }, { - "subtask": "Place the egg yolk pastry in the light basket with left gripper", - "subtask_index": 80 + "subtask": "Grasp the XX with the left gripper", + "subtask_index": 126 }, { - "subtask": "Pick up the pomegranate with left gripper", - "subtask_index": 81 + "subtask": "Place the chocolate on the table with the right gripper", + "subtask_index": 127 }, { - "subtask": "Place the toothpaste in the dark basket with left gripper", - "subtask_index": 82 + "subtask": "Grasp the mint candy with the right gripper", + "subtask_index": 128 }, { - "subtask": "Pick up blackboard eraser with left gripper", - "subtask_index": 83 + "subtask": "Grasp the with the right gripper\n", + "subtask_index": 129 }, { - "subtask": "Place the Incense box in the dark basket with right gripper", - "subtask_index": 84 + "subtask": "Place the brown towel on the table with the right gripper", + "subtask_index": 130 }, { - "subtask": "Pick up the hard facial cleanser with right gripper", - "subtask_index": 85 + "subtask": "Grasp the green lemon with the left gripper", + "subtask_index": 131 }, { - "subtask": "Place the apple in the light basket with right gripper", - "subtask_index": 86 + "subtask": "Place the Mangosteen on the table with the right gripper", + "subtask_index": 132 }, { - "subtask": "Place the avocado in the light basket with left gripper", - "subtask_index": 87 + "subtask": "Place the square chewing gum on the table with the left gripper", + "subtask_index": 133 }, { - "subtask": "Pick up pink marker pen with left gripper", - "subtask_index": 88 + "subtask": "Grasp the teacup with the left gripper\n", + "subtask_index": 134 }, { - "subtask": "Pick up the avocado with left gripper", - "subtask_index": 89 + "subtask": "Place the chocolate on the table with the right gripper\n", + "subtask_index": 135 }, { - "subtask": "Pick up the laundry detergent with right gripper", - "subtask_index": 90 + "subtask": "Grasp the blue bowl with the left gripper\n", + "subtask_index": 136 }, { - "subtask": "Place the egg yolk pastry in the light basket with right gripper", - "subtask_index": 91 + "subtask": "Grasp the teapot with the left gripper", + "subtask_index": 137 }, { - "subtask": "Pick up the apple with right gripper", - "subtask_index": 92 + "subtask": "Place the pink bowel on the table with the right gripper\n", + "subtask_index": 138 }, { - "subtask": "Place the lime in the light basket with left gripper", - "subtask_index": 93 + "subtask": "Place the mint candy on the table with the right gripper\n", + "subtask_index": 139 }, { "subtask": "null", - "subtask_index": 94 + "subtask_index": 140 } ], "atomic_actions": [ @@ -12253,23 +10237,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 197, - "total_frames": 337837, + "total_episodes": 200, + "total_frames": 119721, "fps": 30, - "total_tasks": 95, - "total_videos": 591, + "total_tasks": 141, + "total_videos": 600, "total_chunks": 1, "chunks_size": 1000, "state_dim": 26, "action_dim": 26, "camera_views": 3, - "dataset_size": "4.51 GB" + "dataset_size": "6.75 GB" }, - "frame_num": 337837, - "dataset_size": "4.51 GB", - "data_structure": "Agilex_Cobot_Magic_classify_objects_eight_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (185 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 119721, + "dataset_size": "6.75 GB", + "data_structure": "Agilex_Cobot_Magic_move_object_black_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (188 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:196" + "train": "0:199" }, "features": { "observation.images.cam_head_rgb": { @@ -12640,7 +10624,7 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "agilex_cobot_magic_pass_object_right_to_left_green_tablecloth": { + "Airbot_MMK2_storage_cake_box": { "task_categories": [ "robotics" ], @@ -12670,11 +10654,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "agilex_cobot_magic_pass_object_right_to_left_green_tablecloth", + "dataset_name": "Airbot_MMK2_storage_cake_box", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "commercial_convenience", - "level2": "supermarket", + "level1": "household", + "level2": "kitchen", "level3": null, "level4": null, "level5": null @@ -12682,145 +10666,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "table", - "level1": "home_storage", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "ambrosial_yogurt", - "level1": "food", - "level2": "ambrosial_yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "food", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "milk", - "level1": "food", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yogurt", - "level1": "food", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "grape", - "level1": "food", - "level2": "grape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "ham_sausage", - "level1": "food", - "level2": "ham_sausage", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eggplant", - "level1": "food", - "level2": "eggplant", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chewing_gum", - "level1": "food", - "level2": "chewing_gum", - "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", + "object_name": "flip_top_paper_boxes", + "level1": "packaging", + "level2": "flip_top_paper_boxes", "level3": null, "level4": null, "level5": null }, { - "object_name": "green_table_cloths", - "level1": "laboratory_supplies", - "level2": "green_table_cloths", + "object_name": "cake", + "level1": "bread", + "level2": "cake", "level3": null, "level4": null, "level5": null @@ -12828,249 +10684,57 @@ ], "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." + "open the box with left hand and put the cake in with your right." ], "sub_tasks": [ { - "subtask": "The left gripper places milk on the left side of the table", + "subtask": "End", "subtask_index": 0 }, { - "subtask": "The left gripper places bread on the left side of the table", + "subtask": "Grasp the cake with the right gripper", "subtask_index": 1 }, { - "subtask": "Use the right gripper to grab the shampoo on the right side of the table", + "subtask": "Open the lid of the box with the left gripper", "subtask_index": 2 }, { - "subtask": "Use the right to grab the bread on the right side of table", + "subtask": "Place the cake into the box with the right gripper", "subtask_index": 3 }, - { - "subtask": "Pass the bread to the left gripper", - "subtask_index": 4 - }, - { - "subtask": "Use the right gripper to grab the bread on the right side of the table", - "subtask_index": 5 - }, - { - "subtask": "The left gripper places grape on the left side of the table\n", - "subtask_index": 6 - }, - { - "subtask": "End", - "subtask_index": 7 - }, - { - "subtask": "The left gripper places bread on the left side of the table\n", - "subtask_index": 8 - }, - { - "subtask": "Pass the eggplant to the left gripper", - "subtask_index": 9 - }, - { - "subtask": "The left gripper places yogurt on the left side of the table", - "subtask_index": 10 - }, - { - "subtask": "Pass the purple garbage bag to the left gripper", - "subtask_index": 11 - }, - { - "subtask": "Use the right gripper to grab the xbreadon the right side of the table\n", - "subtask_index": 12 - }, - { - "subtask": "The left gripper places yogurt on the left side of the table", - "subtask_index": 13 - }, - { - "subtask": "Pass the Rubik's Cube to the left gripper", - "subtask_index": 14 - }, - { - "subtask": "Use the right gripper to grab the grape on the right side of the table\n", - "subtask_index": 15 - }, - { - "subtask": "Use the right gripper to grab the grape on the right side of the table", - "subtask_index": 16 - }, - { - "subtask": "Pass the yogurt to the left gripper", - "subtask_index": 17 - }, - { - "subtask": "Pass the bread to the left gripper\n", - "subtask_index": 18 - }, - { - "subtask": "Use the right gripper to grab the yogurt on the right side of the table\n", - "subtask_index": 19 - }, - { - "subtask": "Pass the grape to the left grippe", - "subtask_index": 20 - }, - { - "subtask": "Use the right gripper to grab the milk on the right side of the table\n", - "subtask_index": 21 - }, - { - "subtask": "The left gripper places shampoo on the left side of the table", - "subtask_index": 22 - }, - { - "subtask": "The left gripper places grape on the left side of the table", - "subtask_index": 23 - }, - { - "subtask": "The left gripper places eggplant on the left side of the table", - "subtask_index": 24 - }, - { - "subtask": "Use the right gripper to grab the milk on the right side of the table", - "subtask_index": 25 - }, - { - "subtask": "Pass the milk to the left gripper", - "subtask_index": 26 - }, - { - "subtask": "The left gripper places banana on the left side of the table", - "subtask_index": 27 - }, - { - "subtask": "The left gripper places milk on the left side of the table", - "subtask_index": 28 - }, - { - "subtask": "The left gripper places xx on the left side of the table", - "subtask_index": 29 - }, - { - "subtask": "Pass the shampoo to the left gripper", - "subtask_index": 30 - }, - { - "subtask": "\nPass the bread to the left gripper\n", - "subtask_index": 31 - }, - { - "subtask": "Use the right gripper to grab the bread on the right side of the table\n", - "subtask_index": 32 - }, - { - "subtask": "The left gripper places purple garbage bag on the left side of the table", - "subtask_index": 33 - }, - { - "subtask": "Use the right gripper to grab the xx on the right side of the table", - "subtask_index": 34 - }, - { - "subtask": "Pass the milk to the left gripper\n", - "subtask_index": 35 - }, - { - "subtask": "Pass the banana to the left gripper", - "subtask_index": 36 - }, - { - "subtask": "Pass the shampoo to the left gripper\n", - "subtask_index": 37 - }, - { - "subtask": "The left gripper places Rubik's Cube on the left side of the table", - "subtask_index": 38 - }, - { - "subtask": "Use the right gripper to grab the purple garbage bag on the right side of the table", - "subtask_index": 39 - }, - { - "subtask": "\nPass the yogurt to the left gripper", - "subtask_index": 40 - }, - { - "subtask": "\nPass the bread to the left gripper", - "subtask_index": 41 - }, - { - "subtask": "Use the right gripper to shampoo the on the right side of the table", - "subtask_index": 42 - }, - { - "subtask": "User the right gripper to grab the grape on the right side of the table\n", - "subtask_index": 43 - }, - { - "subtask": "The left gripper places milk on the left side of the table\n", - "subtask_index": 44 - }, - { - "subtask": "Use the right gripper to grab the yogurt on the right side of the table", - "subtask_index": 45 - }, - { - "subtask": "The left gripper places yogurt on the left side of the table\n", - "subtask_index": 46 - }, - { - "subtask": "Use the right gripper to grab the shampoo on the right side of the table", - "subtask_index": 47 - }, - { - "subtask": "Use the right gripper to grab the Rubik's Cube on the right side of the table", - "subtask_index": 48 - }, - { - "subtask": "\nPass the milk to the left gripper\n", - "subtask_index": 49 - }, - { - "subtask": "Pass the grape to the left gripper", - "subtask_index": 50 - }, - { - "subtask": "Pass the grape to the left gripper\n", - "subtask_index": 51 - }, { "subtask": "null", - "subtask_index": 52 + "subtask_index": 4 } ], "atomic_actions": [ "grasp", - "lift", - "lower", - "handover", - "takeover" + "pick", + "place" ], "robot_name": [ - "agilex_cobot_magic" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "end_effector_type": "five_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "cam_right_wrist_rgb", + "cam_front_rgb" ], "came_info": { "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "radian", - "end_translation_dim": "meter", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -13081,23 +10745,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 98, - "total_frames": 69065, + "total_episodes": 50, + "total_frames": 10329, "fps": 30, - "total_tasks": 53, - "total_videos": 294, + "total_tasks": 5, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "884.48 MB" + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "283.14 MB" }, - "frame_num": 69065, - "dataset_size": "884.48 MB", - "data_structure": "Agilex_Cobot_Magic_pass_object_right_to_left_green_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (86 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 10329, + "dataset_size": "283.14 MB", + "data_structure": "Airbot_MMK2_storage_cake_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| `-- ... (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": "0:97" + "train": "0:49" }, "features": { "observation.images.cam_head_rgb": { @@ -13169,10 +10833,33 @@ "has_audio": false } }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, "observation.state": { "dtype": "float32", "shape": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -13181,32 +10868,42 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" ] }, "action": { "dtype": "float32", "shape": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -13215,26 +10912,36 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" ] }, "timestamp": { @@ -13274,17 +10981,17 @@ }, "subtask_annotation": { "names": null, - "dtype": "int32", "shape": [ 5 - ] + ], + "dtype": "int32" }, "scene_annotation": { "names": null, - "dtype": "int32", "shape": [ 1 - ] + ], + "dtype": "int32" }, "eef_sim_pose_state": { "names": [ @@ -13301,10 +11008,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_sim_pose_action": { "names": [ @@ -13321,130 +11028,70 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] - }, + ], + "dtype": "int32" + }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", "shape": [ 2 - ] - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" ], - "dtype": "float32", - "shape": [ - 2 - ] + "dtype": "int32" } }, "authors": { @@ -13466,14 +11113,14 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "alpha_bot_2_sticker": { - "path": "alpha_bot_2_sticker", - "dataset_name": "sticker", + "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle": { + "path": "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle", + "dataset_name": "storage_remote_control_clip_box_water_bottle", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ @@ -13481,7 +11128,7 @@ "pick", "place" ], - "tasks": "End", + "tasks": "Place the water bottle into the cardboard box with the right gripper", "objects": [ { "object_name": "table", @@ -13492,122 +11139,43 @@ "level5": null }, { - "object_name": "poster", - "level1": "toy", - "level2": "poster", + "object_name": "remote_control_gripper", + "level1": "tool", + "level2": "remote_control_gripper", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-97993", - "dataset_size": "1.9GB", - "statistics": { - "total_episodes": 93, - "total_frames": 97993, - "total_tasks": 1, - "total_videos": 372, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "81aee7b0-84c3-4b85-9778-c5c9df188afd", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Stick the advertisement in the top-right corner area with both grippers", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "alpha_bot_2_sticker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "alpha_bot_2_sticker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_stack_baskets": { - "path": "R1_Lite_stack_baskets", - "dataset_name": "stack_baskets", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Grasp the dark basket with the right gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "mineral_water_bottle", + "level1": "container", + "level2": "mineral_water_bottle", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", + "object_name": "box", "level1": "container", - "level2": "basket", + "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-57189", - "dataset_size": "4.1GB", + "frame_range": "0-9890", + "dataset_size": "478.8MB", "statistics": { - "total_episodes": 101, - "total_frames": 57189, + "total_episodes": 47, + "total_frames": 9890, "total_tasks": 1, - "total_videos": 404, + "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "4b7a3d8c-18c0-45af-9337-02adad3a72de", + "dataset_uuid": "993b81b9-2ebd-44d7-933c-d6d77b2851db", "language": [ "en", "zh" @@ -13616,12 +11184,15 @@ "robotics" ], "sub_tasks": [ - "Grasp the dark basket with the right gripper", + "Place the water bottle into the cardboard box with the right gripper", "End", - "Place the light basket on the middle of the table with the left gripper", - "Grasp the light basket with the left gripper", - "Place the dark basket into the light color basket with the right gripper", "Static", + "Lift the water bottle with the right gripper", + "Grasp the remote control clip with the left gripper ", + "Lift the remote control clip with the left gripper ", + "Place the remote control clip into the cardboard box with the left gripper", + "Abnormal", + "Grasp the water bottle with the right gripper", "null" ], "annotations": { @@ -13659,392 +11230,549 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galbot_g1_fold_clothe_b": { - "path": "Galbot_g1_fold_clothe_b", - "dataset_name": "fold_clothe_b", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "flod" - ], - "tasks": "Abnormal", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "clothes", - "level1": "fabric", - "level2": "clothes", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-197328", - "dataset_size": "8.8GB", - "statistics": { - "total_episodes": 213, - "total_frames": 197328, - "total_tasks": 1, - "total_videos": 639, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "0dd63c25-960f-4489-88af-e3c5c38998c2", - "language": [ - "en", - "zh" - ], + "Airbot_MMK2_stack_bowl": { "task_categories": [ "robotics" ], - "sub_tasks": [ - "Abnormal", - "use the left gripper to clamp the left edge of the fabric", - "Drag the clothes to the center of the table", - "End", - "use both grippers simultaneously to clamp the upper edge of the clothing fabric", - "use both grippers to drag the lower edge of the fabric forward and fold it over the upper edge", - "use both grippers to drag the upper edge of the fabric backward and fold it over the lower edge", - "use both grippers simultaneously to clamp the lower edge of the clothing fabric", - "Drag the clothes downward with both gripper", - "use the left gripper to drag the left edge of the fabric to the left and folds it over the right edge", - "Flip the folded clothes over with left gripper", - "null" + "language": [ + "en" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Galbot_g1_fold_clothe_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Galbot_g1_fold_clothe_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_connect_the_router_cable": { - "path": "R1_Lite_connect_the_router_cable", - "dataset_name": "connect_the_router_cable", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "insert" + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } ], - "tasks": "Hand it to the other hand", + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_stack_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": "table", - "level1": "furniture", - "level2": "table", + "object_name": "bowl", + "level1": "plastic_bowls", + "level2": "bowl", "level3": null, "level4": null, "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "put the small bowl into the big bowl by hand." + ], + "sub_tasks": [ + { + "subtask": "Grasp the white bowl with the left gripper", + "subtask_index": 0 }, { - "object_name": "router", - "level1": "electric_appliance", - "level2": "router", - "level3": null, - "level4": null, - "level5": null + "subtask": "Abnormal", + "subtask_index": 1 }, { - "object_name": "socket", - "level1": "electric_appliance", - "level2": "socket", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the white bowl on the pink bowl with the left gripper", + "subtask_index": 2 }, { - "object_name": "cable", - "level1": "electric_appliance", - "level2": "cable", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 3 }, { - "object_name": "plug", - "level1": "electric_appliance", - "level2": "plug", - "level3": null, - "level4": null, - "level5": null + "subtask": "Static", + "subtask_index": 4 + }, + { + "subtask": "null", + "subtask_index": 5 } ], - "operation_platform_height": null, - "frame_range": "0-165617", - "dataset_size": "9.4GB", - "statistics": { - "total_episodes": 105, - "total_frames": 165617, - "total_tasks": 1, - "total_videos": 315, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "2802db0f-0c22-4fba-b305-aae14b28e492", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Airbot_MMK2" ], - "sub_tasks": [ - "Hand it to the other hand", - "Pick up plug", - "Pick up the cable", - "Close the lower drawer", - "Place the iced tea in the fridge", - "Open the upper fridge door", - "Plug it into the socket", - "End", - "Place zucchini in the lower drawer", - "Open the lower drawer", - "Deliver it to the other hand", - "Abnormal", - "Plug plug into socket", - "Open the plastic bag", - "Place pear in the lower drawer", - "Place the Wahaha in the fridge", - "Pick up cable", - "Close the middle refrigerator door", - "Open the middle refrigerator door", - "Place king oyster Mushroom in the lower drawer", - "Plug cable into router interface", - "Align cable and router interface", - "Close the upper refrigerator door", - "Align plug and socket", - "Plug it into the receiver", - "Pick up the plug", - "null" + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_connect_the_router_cable_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_connect_the_router_cable_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_pour_drink": { - "path": "Cobot_Magic_pour_drink", - "dataset_name": "pour_drink", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "pour" + "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" ], - "tasks": "Grasp the black cup with left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "statistics": { + "total_episodes": 50, + "total_frames": 9073, + "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": "339.42 MB" + }, + "frame_num": 9073, + "dataset_size": "339.42 MB", + "data_structure": "Airbot_MMK2_Airbot_MMK2_stack_bowl_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_front_rgb\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "NFC_orange_juice", - "level1": "drink", - "level2": "NFC_orange_juice", - "level3": null, - "level4": null, - "level5": null + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "red_wine", - "level1": "drink", - "level2": "red_wine", - "level3": null, - "level4": null, - "level5": null + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "sprite", - "level1": "drink", - "level2": "sprite", - "level3": null, - "level4": null, - "level5": null + "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 + } }, - { - "object_name": "black_mug", - "level1": "container", - "level2": "black_mug", - "level3": null, - "level4": null, - "level5": null + "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" + ] }, - { - "object_name": "paper_cup", - "level1": "container", - "level2": "paper_cup", - "level3": null, - "level4": null, - "level5": null + "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" + ] }, - { - "object_name": "transparent_cup", - "level1": "container", - "level2": "transparent_cup", - "level3": null, - "level4": null, - "level5": null + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", - "level3": null, - "level4": null, - "level5": null + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "cestbon", - "level1": "drink", - "level2": "cestbon", - "level3": null, - "level4": null, - "level5": null + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "coffee", - "level1": "drink", - "level2": "coffee", - "level3": null, - "level4": null, - "level5": null + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "leju_robot_moving_parts_j": { + "path": "leju_robot_moving_parts_j", + "dataset_name": "moving_parts_j", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Move to the initial position of the workbench.", + "objects": [ { - "object_name": "cola", - "level1": "drink", - "level2": "cola", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "milk", - "level1": "drink", - "level2": "milk", + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", "level3": null, "level4": null, "level5": null }, { - "object_name": "cup", - "level1": "container", - "level2": "cup", + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-862292", - "dataset_size": "12.6GB", + "operation_platform_height": null, + "frame_range": "0-223023", + "dataset_size": "13.9GB", "statistics": { - "total_episodes": 1613, - "total_frames": 862292, - "total_tasks": 61, - "total_videos": 4839, - "total_chunks": 2, + "total_episodes": 153, + "total_frames": 223023, + "total_tasks": 1, + "total_videos": 459, + "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "9b6b4d09-0c15-4d1f-b8f9-12be94c871cd", + "dataset_uuid": "a7584581-99dc-4ffb-bc23-e846841a55b7", "language": [ "en", "zh" @@ -14053,62 +11781,16 @@ "robotics" ], "sub_tasks": [ - "Grasp the black cup with left gripper", - "Grasp the white cup with right gripper", - "Static", - "Place the orange juice bottle on the table with left gripper", - "Lift the black cup with left gripper", - "Place the water bottle on the table with right gripper", - "Place the grey cup on the table with left gripper", - "End", - "Place the sprite bottle on the table with right gripper", - "Lift the red cup with left gripper", - "Place the cola bottle on the table with left gripper", - "Grasp the bottle with cola with right gripper", - "Grasp the bottle with sprite with left gripper", - "Pour the water from bottle to cup with right gripper", - "Place the coffee bottle on the table with right gripper", - "Grasp the bottle with orange juice with left gripper", - "Pour the red wine from bottle to cup with left gripper", - "Place the black cup in the center of view with right gripper", - "Place the transparent cup on the table with right gripper", - "Place the white cup on the table with right gripper", - "Grasp the bottle filled water with right gripper", - "Grasp the bottle with coffee with right gripper", - "Place the yellow paper cup on the table with left gripper", - "Pour the yuexian Milk from bottle to cup with right gripper", - "Grasp the bottle with red wine with left gripper", - "Grasp the black cup with right gripper", - "Place the white cup on the table with left gripper", - "Grasp the yellow paper cup with right gripper", - "Grasp the yellow paper cup with left gripper", - "Pour the orange juice from bottle to cup with left gripper", - "Grasp the bottle with water with right gripper", - "Pour the yogurt from bottle to cup with left gripper", - "Grasp the bottle with yuexian Milk with right gripper", - "Place the yellow paper cup on the table with right gripper", - "Pour the cola from bottle to cup with right gripper", - "Abnormal", - "Grasp the white cup with left gripper", - "Pour the sprite from bottle to cup with left gripper", - "Lift the grey cup with left gripper", - "Place the black cup on the table with left gripper", - "Grasp the red cup with left gripper", - "Place the red cup on the table with left gripper", - "Lift the yellow paper cup with right gripper", - "Grasp the grey cup with left gripper", - "Place the yuexian Milk bottle on the table with right gripper", - "Lift the yellow paper cup with left gripper", - "Place the sprite bottle on the table with left gripper", - "Lift the white cup with left gripper", - "Place the cola bottle on the table with right gripper", - "Pour the sprite from bottle to cup with right gripper", - "Place the red wine bottle on the table with left gripper", - "Lift the white cup with right gripper", - "Grasp the transparent cup with right gripper", - "Grasp the bottle with sprite with right gripper", - "Pour the coffee from bottle to cup with right gripper", - "Lift the grey cup with right gripper", + "Move to the initial position of the workbench.", + "Grasp the gray part with right gripper", + "Insert the small component into the corresponding slot on the workbench.", + "Move to the table behind body", + "Grasp the white part with right gripper", + "Place the gray part on the table with right gripper", + "Place the white part on the table with right gripper", + "End", + "Pick up the small component from the shelf.", + "Bring the small component to the front of the workbench.", "null" ], "annotations": { @@ -14146,15 +11828,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_pour_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", - "structure": "Cobot_Magic_pour_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" + "data_schema": "leju_robot_moving_parts_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_wash_the_tableware": { - "path": "R1_Lite_wash_the_tableware", - "dataset_name": "wash_the_tableware", + "AIRBOT_MMK2_storage_wet_tissue_and_building_block": { + "path": "AIRBOT_MMK2_storage_wet_tissue_and_building_block", + "dataset_name": "storage_wet_tissue_and_building_block", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ @@ -14162,7 +11844,7 @@ "pick", "place" ], - "tasks": "Grasp yellow bowl with right gripper", + "tasks": "Place the arch-shaped block on the white board with the right gripper", "objects": [ { "object_name": "table", @@ -14173,59 +11855,43 @@ "level5": null }, { - "object_name": "sink", - "level1": "container", - "level2": "sink", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chopsticks", - "level1": "tableware", - "level2": "chopsticks", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", + "object_name": "wet_tissue", + "level1": "tool", + "level2": "wet_tissue", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "object_name": "building_block", + "level1": "toy", + "level2": "building_block", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", + "object_name": "platform", "level1": "container", - "level2": "plate", + "level2": "platform", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-197672", - "dataset_size": "7.3GB", + "operation_platform_height": 77.2, + "frame_range": "0-11526", + "dataset_size": "335.2MB", "statistics": { - "total_episodes": 137, - "total_frames": 197672, + "total_episodes": 47, + "total_frames": 11526, "total_tasks": 1, - "total_videos": 411, + "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "62b4f49b-4413-4d29-9822-c440835cdf41", + "dataset_uuid": "1479380b-b15a-4f01-b1f7-6c3842a45d84", "language": [ "en", "zh" @@ -14234,46 +11900,12 @@ "robotics" ], "sub_tasks": [ - "Grasp yellow bowl with right gripper", - "Pick up the bowl", - "Open the dispenser valve with right gripper", + "Place the arch-shaped block on the white board with the right gripper", + "Grasp the wet wipe with the left gripper", + "Place the wet wipe on the white board with the left gripper", "End", - "Rinse the chopsticks", - "Put the chopsticks into the sink", - "Place the chopsticks on the table", - "Put a spoon back to the table from the sink", - "Put a bowl back to the table from the sink", - "Place pink bowl into the sink with right gripper", - "Rinse the plate", - "Wait for the water to rinse the bowl", - "Place a chopstick into the sink with right gripper", - "Put a bowl into the sink", - "Rinse the bowl", - "Place a chopstick on the bowl with right gripper", - "Place the plate on the table", - "Pour the water from the yellow bowl into the sink with right gripper", - "Place the bowl on the table", - "Pick up the chopsticks", - "Put the chopsticks back to the table from the sink", - "Put a spoon into the sink", - "Pour the water from the pink bowl into the sink with right gripper", - "Place the chopsticks on the bowl", + "Grasp the arch-shaped block with the right gripper", "Abnormal", - "Pick up the spoon", - "Rinse the spoon", - "Place yellow bowl on the table with right gripper", - "Place yellow bowl into the sink with right gripper", - "Place the spoon on the plate", - "Put a plate back to the table from the sink", - "Turn off the faucet", - "Pick up the plate", - "Place the spoon on the bowl", - "Close the dispenser valve with right gripper", - "Grasp a chopstick with right gripper", - "Grasp pink bowl with right gripper", - "Turn on the faucet", - "Place pink bowl on the table with right gripper", - "Put a plate into the sink", "null" ], "annotations": { @@ -14311,23 +11943,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_wash_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_wash_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_storage_wet_tissue_and_building_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_store_peaches_and_pears": { - "path": "AIRBOT_MMK2_store_peaches_and_pears", - "dataset_name": "store_peaches_and_pears", + "Cobot_Magic_make_hamburger": { + "path": "Cobot_Magic_make_hamburger", + "dataset_name": "make_hamburger", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "place", + "pick" ], - "tasks": "Place the pear into the right compartment of the storage box with the right gripper", + "tasks": "Place the purple cabbage on the cutlet with the left gripper", "objects": [ { "object_name": "table", @@ -14338,43 +11970,75 @@ "level5": null }, { - "object_name": "peache", - "level1": "fruit", - "level2": "peache", + "object_name": "cheese", + "level1": "food", + "level2": "cheese", "level3": null, "level4": null, "level5": null }, { - "object_name": "pear", - "level1": "fruit", - "level2": "pear", + "object_name": "lettuce", + "level1": "food", + "level2": "lettuce", "level3": null, "level4": null, "level5": null }, { - "object_name": "compartment", + "object_name": "bread", + "level1": "food", + "level2": "bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", "level1": "container", - "level2": "compartment", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sliced_bread", + "level1": "food", + "level2": "sliced_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "meat_pie", + "level1": "food", + "level2": "meat_pie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tomato_slices", + "level1": "vegetable", + "level2": "tomato_slices", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-11276", - "dataset_size": "343.0MB", + "frame_range": "0-1591383", + "dataset_size": "46.7GB", "statistics": { - "total_episodes": 48, - "total_frames": 11276, - "total_tasks": 1, - "total_videos": 192, - "total_chunks": 1, + "total_episodes": 3044, + "total_frames": 1591383, + "total_tasks": 4, + "total_videos": 12176, + "total_chunks": 4, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "c95d9ed0-71ed-4c90-94ec-30af0eb88215", + "dataset_uuid": "50b8b2d7-4195-4264-a972-36006de4241a", "language": [ "en", "zh" @@ -14383,12 +12047,53 @@ "robotics" ], "sub_tasks": [ - "Place the pear into the right compartment of the storage box with the right gripper", - "Place the peach into the left compartment of the storage box with the left gripper", + "Place the purple cabbage on the cutlet with the left gripper", + "Pick up the tomato slice with the left gripper", + "Right pick up the patty.", + "Right place the lettuce leaf on the bread slice.", + "Right place the patty on the tomato slice.", + "Place the hamburger lid on the cutlet with the right gripper", + "end", + "Pick up the bread slices and place them on the tray with the left gripper", + "Pick up the purple cabbage with the left gripper", + "Left pick up the bottom bread slice.", + "Place the lettuce leaf on the bread slice with the right gripper", + "Pick up the bread slice with the left gripper", + "Left pick up the cheese slice.", + "Discard.", + "Pick up the cheese slice with the right gripper", + "Pick up the tomato slice with the right gripper", + "Place the hamburger lid on the cheese slice with the right gripper", + "Left place the bottom bread slice on the tray.", + "Left place the tomato slice on the lettuce leaf.", "Abnormal", - "Grasp a peach with the left gripper", - "End", - "Grasp a pear with the right gripper", + "Place the purple cabbage on the tomato slice with the left gripper", + "Place the tomato slice on the lettuce leaf with the right gripper", + "Left pick up the tomato slice.", + "Pick up the lettuce leaf with the right gripper", + "Place the tomato slice on the lettuce leaf with the left gripper", + "Place the hamburger lid on the purple cabbage with the right gripper", + "Place the tomato slice on the bread slice with the right gripper", + "Place the cutlet on the tomato slice with the right gripper", + "Place the hamburger lid on the cutlet slice with the left gripper", + "Place the cheese slice on the cutlet with the left gripper", + "Place the bread slice on the tray with the left gripper", + "Place the cutlet on the lettuce leaf with the right gripper", + "Left place the cheese slice on the patty.", + "Place the hamburger lid on the cheese slice with the left gripper", + "Pick up the cutlet with the right gripper", + "Left place the bread on the tray.", + "Pick up the hamburger lid with the right gripper", + "Place the cheese slice on the cutlet with the right gripper", + "Pick up the hamburger lid with the left gripper", + "Right pick up the top bread slice.", + "Pick up the meat patty and place it on top of the tomato with the right gripper", + "Pick up the cheese slice with the left gripper", + "Right pick up the lettuce leaf.", + "Right place the lettuce leaf on the bottom bread.", + "Left pick up the bottom bread.", + "Right place the top bread slice on the cheese slice.", + "Place the tomato slice on the bread slice with the left gripper", "null" ], "annotations": { @@ -14426,52 +12131,62 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ ├── chunk-001/\n│ │ ├── episode_001000.parquet\n│ │ ├── episode_001001.parquet\n│ │ ├── episode_001002.parquet\n│ │ ├── episode_001003.parquet\n│ │ ├── episode_001004.parquet\n│ │ └── (...)\n│ ├── chunk-002/\n│ │ ├── episode_002000.parquet\n│ │ ├── episode_002001.parquet\n│ │ ├── episode_002002.parquet\n│ │ ├── episode_002003.parquet\n│ │ ├── episode_002004.parquet\n│ │ └── (...)\n│ └── chunk-003/\n│ ├── episode_003000.parquet\n│ ├── episode_003001.parquet\n│ ├── episode_003002.parquet\n│ ├── episode_003003.parquet\n│ ├── episode_003004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── chunk-001/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── chunk-002/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_002000.mp4\n │ ├── episode_002001.mp4\n │ ├── episode_002002.mp4\n │ ├── episode_002003.mp4\n │ ├── episode_002004.mp4\n │ └── (...)\n └── chunk-003/\n ├── observation.images.cam_high_realsense_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_003000.mp4\n ├── episode_003001.mp4\n ├── episode_003002.mp4\n ├── episode_003003.mp4\n ├── episode_003004.mp4\n └── (...)", + "structure": "Cobot_Magic_make_hamburger_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ ├── chunk-001/\n│ │ ├── episode_001000.parquet\n│ │ ├── episode_001001.parquet\n│ │ ├── episode_001002.parquet\n│ │ ├── episode_001003.parquet\n│ │ ├── episode_001004.parquet\n│ │ └── (...)\n│ ├── chunk-002/\n│ │ ├── episode_002000.parquet\n│ │ ├── episode_002001.parquet\n│ │ ├── episode_002002.parquet\n│ │ ├── episode_002003.parquet\n│ │ ├── episode_002004.parquet\n│ │ └── (...)\n│ └── chunk-003/\n│ ├── episode_003000.parquet\n│ ├── episode_003001.parquet\n│ ├── episode_003002.parquet\n│ ├── episode_003003.parquet\n│ ├── episode_003004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── chunk-001/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_001000.mp4\n │ │ ├── episode_001001.mp4\n │ │ ├── episode_001002.mp4\n │ │ ├── episode_001003.mp4\n │ │ ├── episode_001004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── chunk-002/\n │ ├── observation.images.cam_high_realsense_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_002000.mp4\n │ │ ├── episode_002001.mp4\n │ │ ├── episode_002002.mp4\n │ │ ├── episode_002003.mp4\n │ │ ├── episode_002004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_002000.mp4\n │ ├── episode_002001.mp4\n │ ├── episode_002002.mp4\n │ ├── episode_002003.mp4\n │ ├── episode_002004.mp4\n │ └── (...)\n └── chunk-003/\n ├── observation.images.cam_high_realsense_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_003000.mp4\n │ ├── episode_003001.mp4\n │ ├── episode_003002.mp4\n │ ├── episode_003003.mp4\n │ ├── episode_003004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_003000.mp4\n ├── episode_003001.mp4\n ├── episode_003002.mp4\n ├── episode_003003.mp4\n ├── episode_003004.mp4\n └── (...)" }, - "G1edu-u3_pullBowl_storage_bread_b": { - "path": "G1edu-u3_pullBowl_storage_bread_b", - "dataset_name": "pullBowl__storage2bread_unordered", + "G1edu-u3_pick_apple_a": { + "path": "G1edu-u3_pick_apple_a", + "dataset_name": "pick_apple_a", "robot_type": "", "end_effector_type": [ "three_finger_hand" ], "scene_type": [], "atomic_actions": [ - "walk" + "grasp", + "pick", + "place" ], - "tasks": "Move the pink bowl to the center of table with right hand", + "tasks": "End", "objects": [ { - "object_name": "chair", + "object_name": "table", "level1": "furniture", - "level2": "chair", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "bear_doll", - "level1": "toy", - "level2": "bear_doll", + "object_name": "apple", + "level1": "fruit", + "level2": "apple", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "board", + "level1": "material", + "level2": "board", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-162960", - "dataset_size": "3.3GB", + "operation_platform_height": null, + "frame_range": "0-15439", + "dataset_size": "208.4MB", "statistics": { - "total_episodes": 186, - "total_frames": 162960, + "total_episodes": 40, + "total_frames": 15439, "total_tasks": 1, - "total_videos": 558, + "total_videos": 40, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 40, "fps": 30 }, - "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a48", + "dataset_uuid": "6afbbc46-1a5f-434d-bfe5-7a7ae32db479", "language": [ "en", "zh" @@ -14480,15 +12195,9 @@ "robotics" ], "sub_tasks": [ - "Move the pink bowl to the center of table with right hand", - "Static", - "Grasp the round bread with left hand", "End", - "Move towards the toy bear on the chair", - "Grasp the long bread with left hand", - "Place the round bread in pink bowl with left hand", - "Abnormal", - "Place the long bread in pink bowl with left hand", + "Grasp the apple and lift it to the center of the view with right gripper", + "Grasp the apple and lift it to the center of the view with left gripper", "null" ], "annotations": { @@ -14526,12 +12235,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pick_apple_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_apple_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_the_cup_is_put_into_the_bucket": { - "path": "AIRBOT_MMK2_the_cup_is_put_into_the_bucket", - "dataset_name": "the_cup_is_put_into_the_bucket", + "AIRBOT_MMK2_storage_tissue_paper": { + "path": "AIRBOT_MMK2_storage_tissue_paper", + "dataset_name": "storage_tissue_paper", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -14539,10 +12248,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "open", - "hold" + "place", + "pick" ], - "tasks": "Lift the cup the right gripper", + "tasks": "Static", "objects": [ { "object_name": "table", @@ -14553,35 +12262,35 @@ "level5": null }, { - "object_name": "paper_cup", - "level1": "container", - "level2": "paper_cup", + "object_name": "tissue_paper", + "level1": "daily_necessities", + "level2": "tissue_paper", "level3": null, "level4": null, "level5": null }, { - "object_name": "bucket", + "object_name": "basin", "level1": "container", - "level2": "bucket", + "level2": "basin", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-9335", - "dataset_size": "369.4MB", + "frame_range": "0-6980", + "dataset_size": "211.2MB", "statistics": { "total_episodes": 50, - "total_frames": 9335, + "total_frames": 6980, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "3d103654-86bc-4dae-b569-be335fe5d8df", + "dataset_uuid": "22dc3be9-588c-4288-b3a3-5176c69a5f71", "language": [ "en", "zh" @@ -14590,14 +12299,13 @@ "robotics" ], "sub_tasks": [ - "Lift the cup the right gripper", "Static", + "Place the tissue into the brown basin with the left gripper", "End", - "Grasp the cup the right gripper", - "Lift the cup the left gripper", - "Grasp the cup the left gripper", - "place the cup in the yellow basket use the right gripper", - "place the cup in the yellow basket use the left gripper", + "Abnormal", + "Place the tissue into the brown basin with the right gripper", + "Grasp the tissue with the right gripper", + "Grasp the tissue with the left gripper", "null" ], "annotations": { @@ -14635,70 +12343,33 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_storage_tissue_paper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_box_storage_parcel_d": { - "path": "leju_robot_box_storage_parcel_d", - "dataset_name": "box_storage_parcel_d", + "RMC-AIDA-L_stack_baskets": { + "path": "RMC-AIDA-L_stack_baskets", + "dataset_name": "stack_baskets", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pass the laundry detergent to the left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "parcel", - "level1": "container", - "level2": "parcel", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "conveyor_belt", - "level1": "industrial_equipment", - "level2": "conveyor_belt", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-288956", - "dataset_size": "18.0GB", + "atomic_actions": [], + "tasks": "Pick up the light basket with the right gripper", + "objects": [], + "operation_platform_height": 77.2, + "frame_range": "0-278342", + "dataset_size": "3.8GB", "statistics": { - "total_episodes": 212, - "total_frames": 288956, - "total_tasks": 1, - "total_videos": 636, + "total_episodes": 484, + "total_frames": 278342, + "total_tasks": 2, + "total_videos": 1452, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "a24f0c02-18b7-4770-8ed1-41d5db2ba6d8", + "dataset_uuid": "d4c26606-f766-48ca-befd-dbdeead83a95", "language": [ "en", "zh" @@ -14707,13 +12378,20 @@ "robotics" ], "sub_tasks": [ - "Pass the laundry detergent to the left gripper", - "Pick up the fast-moving consumer goods bottle from the table.", - "Take the fast-moving consumer goods bottle from the table.", - "Abnormal", - "Grasp the laundry detergent with right gripper", - "Place the laundry detergent on the yellow rubber mat with left gripper", - "Flip the fast-moving consumer goods bottle to the front side.", + "Pick up the light basket with the right gripper", + "Place the light basket in the center of the table with left gripper", + "Pick up the dark basket with the left gripper", + "Pick up the dark basket with the right gripper", + "abnormal", + "Grasp the dark basket with right gripper", + "Place the dark basket in the center of view with the left gripper", + "Pick up the light basket with the left gripper", + "End", + "Place the dark basket on the light basket with right gripper", + "Place the light basket in the center of view with the left gripper", + "Place the dark basket on the light basket with the right gripper", + "Grasp the light basket with left gripper", + "Place the light basket on the dark basket with the right gripper", "null" ], "annotations": { @@ -14751,23 +12429,22 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_box_storage_parcel_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_box_storage_parcel_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_stack_baskets_qced_hardlink/\n├── @eaDir/\n│ └── .DS_Store@SynoResource\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── @eaDir/\n│ │ └── .DS_Store@SynoResource\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_stack_baskets_qced_hardlink/\n├── @eaDir/\n│ └── .DS_Store@SynoResource\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── @eaDir/\n│ │ └── .DS_Store@SynoResource\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_move_the_cup": { - "path": "Cobot_Magic_move_the_cup", - "dataset_name": "move_the_cup", + "G1edu-u3_pick_plastic_bowl_ad": { + "path": "G1edu-u3_pick_plastic_bowl_ad", + "dataset_name": "pick_plastic_bowl_ad", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "pick" ], - "tasks": "Grasp the transparent glass cup", + "tasks": "Grasp the plastic bowl and lift it to the center of the view with left gripper", "objects": [ { "object_name": "table", @@ -14778,154 +12455,27 @@ "level5": null }, { - "object_name": "glass_cup", + "object_name": "plastic_bowl", "level1": "container", - "level2": "glass_cup", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-28338", - "dataset_size": "1.1GB", - "statistics": { - "total_episodes": 100, - "total_frames": 28338, - "total_tasks": 1, - "total_videos": 300, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 50 - }, - "dataset_uuid": "503e7d0b-c281-4ea6-98ff-ebe74764c6ad", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the transparent glass cup", - "Place the glass cup on the blue zone", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_move_the_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_move_the_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_storage_of_toiletries": { - "path": "R1_Lite_storage_of_toiletries", - "dataset_name": "storage_of_toiletries", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the toothpaste in the storage bag", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "storage_bag", - "level1": "container", - "level2": "storage_bag", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "toothpaste", - "level1": "personal_care_products", - "level2": "toothpaste", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "toothbrush", - "level1": "personal_care_products", - "level2": "toothbrush", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "comb", - "level1": "personal_care_products", - "level2": "comb", + "level2": "plastic_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-138432", - "dataset_size": "7.0GB", + "frame_range": "0-10038", + "dataset_size": "144.0MB", "statistics": { - "total_episodes": 101, - "total_frames": 138432, + "total_episodes": 32, + "total_frames": 10038, "total_tasks": 1, - "total_videos": 303, + "total_videos": 32, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 33, "fps": 30 }, - "dataset_uuid": "25f2cd96-c284-44a9-b59c-98e204e16347", + "dataset_uuid": "2efbcfc7-6d0c-4d2f-873c-534fe35c6c26", "language": [ "en", "zh" @@ -14934,19 +12484,9 @@ "robotics" ], "sub_tasks": [ - "Place the toothpaste in the storage bag", - "Pick up the comb", - "Place the comb on the table", - "Place the comb into the storage bag", - "Pick up the storage bag", - "Pick up a toothbrush", - "Place the toothpaste on the table", - "abnormal", - "Pick up the toothpaste", - "Open the storage bag", - "Close the strorage bag and place it on the desk", - "Place the toothbrush in the storage bag", - "Hand it to the other hand", + "Grasp the plastic bowl and lift it to the center of the view with left gripper", + "End", + "Grasp the plastic bowl and lift it to the center of the view with right gripper", "null" ], "annotations": { @@ -14984,12 +12524,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_storage_of_toiletries_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_storage_of_toiletries_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_plastic_bowl_ad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AgiBot-g1_storage_item_d": { - "path": "AgiBot-g1_storage_item_d", - "dataset_name": "storage_item_d", + "AgiBot-g1_battery_storage_c": { + "path": "AgiBot-g1_battery_storage_c", + "dataset_name": "battery_storage_c", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -15000,7 +12540,7 @@ "place", "pick" ], - "tasks": "Grab and pick up both the mouse and power cord from the accessory packaging area at the same time", + "tasks": "End", "objects": [ { "object_name": "table", @@ -15010,14 +12550,6 @@ "level4": null, "level5": null }, - { - "object_name": "data_cable", - "level1": "tool", - "level2": "data_cable", - "level3": null, - "level4": null, - "level5": null - }, { "object_name": "box", "level1": "container", @@ -15027,27 +12559,27 @@ "level5": null }, { - "object_name": "mouse", - "level1": "tool", - "level2": "mouse", + "object_name": "battery", + "level1": "electronic_products", + "level2": "battery", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-180148", - "dataset_size": "86.0GB", + "frame_range": "0-34166", + "dataset_size": "18.3GB", "statistics": { - "total_episodes": 450, - "total_frames": 180148, + "total_episodes": 57, + "total_frames": 34166, "total_tasks": 1, - "total_videos": 3600, + "total_videos": 456, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "49f10ba2-bad7-46fc-ae4b-f6142efa81a2", + "dataset_uuid": "b2a4e622-affe-407e-9e15-b94e3a5cf225", "language": [ "en", "zh" @@ -15056,8 +12588,11 @@ "robotics" ], "sub_tasks": [ - "Grab and pick up both the mouse and power cord from the accessory packaging area at the same time", - "Place the mouse and power cord into the box", + "End", + "Grab and lift the power supply from the large box.", + "Place the battery on the shelf", + "Grasp the battery", + "Place the power supply on the operating table.", "null" ], "annotations": { @@ -15095,10 +12630,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_storage_item_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_storage_item_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_battery_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_push_toy_car": { + "Agilex_Cobot_Magic_storage_lemon_mango": { "task_categories": [ "robotics" ], @@ -15128,11 +12663,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_push_toy_car", + "dataset_name": "Agilex_Cobot_Magic_storage_lemon_mango", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "living_room", + "level1": "office_workspace", + "level2": "office", "level3": null, "level4": null, "level5": null @@ -15148,9 +12683,49 @@ "level5": null }, { - "object_name": "toy_car", - "level1": "toy", - "level2": "toy_car", + "object_name": "brown_basket", + "level1": "home_storage", + "level2": "brown_basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mango", + "level1": "food", + "level2": "mango", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "green_lemon", + "level1": "food", + "level2": "green_lemon", + "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": "whiteboard_erasers", + "level1": "stationery", + "level2": "whiteboard_erasers", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bathing_in_flowers", + "level1": "daily_necessities", + "level2": "bathing_in_flowers", "level3": null, "level4": null, "level5": null @@ -15158,55 +12733,75 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "push the toy car by hand." + "Randomly grab green lemon or mangoes from the table and put them in a basket." ], "sub_tasks": [ { - "subtask": "End", + "subtask": "Place the mango into the basket with the right gripper", "subtask_index": 0 }, { - "subtask": "Static", + "subtask": "Grasp the mango with the right gripper", "subtask_index": 1 }, { - "subtask": "Push the toy car from left to right with the left gripper", + "subtask": "Grasp the Lemon with the right gripper", "subtask_index": 2 }, { - "subtask": "Abnormal", + "subtask": "End", "subtask_index": 3 }, { - "subtask": "null", + "subtask": "Grasp the mango with the left gripper", "subtask_index": 4 + }, + { + "subtask": "Place the Lemon into the basket with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "Place the mango into the basket with the left gripper", + "subtask_index": 6 + }, + { + "subtask": "Grasp the Lemon with the left gripper", + "subtask_index": 7 + }, + { + "subtask": "Place the Lemon into the basket with the right gripper", + "subtask_index": 8 + }, + { + "subtask": "null", + "subtask_index": 9 } ], "atomic_actions": [ - "push" + "grasp", + "lift", + "lower" ], "robot_name": [ - "Airbot_MMK2" + "Agilex_Cobot_Magic" ], - "end_effector_type": "five_finger_gripper", + "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "cam_right_wrist_rgb" ], "came_info": { "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -15217,23 +12812,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 50, - "total_frames": 6897, + "total_episodes": 100, + "total_frames": 28424, "fps": 30, - "total_tasks": 5, - "total_videos": 200, + "total_tasks": 10, + "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "175.81 MB" + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "362.05 MB" }, - "frame_num": 6897, - "dataset_size": "175.81 MB", - "data_structure": "Airbot_MMK2_push_toy_car_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 28424, + "dataset_size": "362.05 MB", + "data_structure": "Agilex_Cobot_Magic_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|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:49" + "train": "0:99" }, "features": { "observation.images.cam_head_rgb": { @@ -15305,33 +12900,10 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, "observation.state": { "dtype": "float32", "shape": [ - 36 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -15340,42 +12912,32 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -15384,36 +12946,26 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "timestamp": { @@ -15453,17 +13005,17 @@ }, "subtask_annotation": { "names": null, + "dtype": "int32", "shape": [ 5 - ], - "dtype": "int32" + ] }, "scene_annotation": { "names": null, + "dtype": "int32", "shape": [ 1 - ], - "dtype": "int32" + ] }, "eef_sim_pose_state": { "names": [ @@ -15480,10 +13032,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_sim_pose_action": { "names": [ @@ -15500,138 +13052,230 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" - } - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" - } - ] - }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" - }, - "leju_robot_pass_the_cleaner_d": { - "path": "leju_robot_pass_the_cleaner_d", - "dataset_name": "pass_the_cleaner_d", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Turn the bottle to the front side.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + ] }, - { - "object_name": "cleaner", - "level1": "daily_necessities", - "level2": "cleaner", + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "AIRBOT_MMK2_building_block_storage": { + "path": "AIRBOT_MMK2_building_block_storage", + "dataset_name": "building_block_storage", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the red cylinder in the box with the right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "building_block", + "level1": "toy", + "level2": "building_block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "toy_circle", + "level1": "toy", + "level2": "toy_circle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "building_block_base", + "level1": "toy", + "level2": "building_block_base", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-168676", - "dataset_size": "8.7GB", + "operation_platform_height": 77.2, + "frame_range": "0-39347", + "dataset_size": "1.4GB", "statistics": { - "total_episodes": 451, - "total_frames": 168676, - "total_tasks": 1, - "total_videos": 1353, + "total_episodes": 246, + "total_frames": 39347, + "total_tasks": 5, + "total_videos": 984, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "d1843bc1-83c4-4c84-8c34-c6740a7e82a9", + "dataset_uuid": "55a64137-7092-451d-8a70-b22ff2383b33", "language": [ "en", "zh" @@ -15640,8 +13284,22 @@ "robotics" ], "sub_tasks": [ - "Turn the bottle to the front side.", - "Pick up the bottle from the table.", + "Place the red cylinder in the box with the right gripper", + "Place the yellow block in the blue circle with the left gripper", + "Place the green coil on the wooden pillar with the right gripper", + "Grasp the green rectangular block on the plate with the right gripper", + "Place the yellow block in the blue circle with the right gripper", + "End", + "Grasp the red cylinder with the right gripper", + "Place green rectangular block on the table with the right gripper", + "Grasp the yellow block with the left gripper", + "Grasp the green coil with the right gripper", + "Abnormal", + "Grasp the green cylinder with the left gripper", + "Grasp the yellow block with the rightt gripper", + "Grasp the red rectangular block on the plate with the left gripper", + "Place the green cylinder in the box with the left gripper", + "Place red rectangular block on the table with the left gripper", "null" ], "annotations": { @@ -15679,561 +13337,277 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_pass_the_cleaner_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_pass_the_cleaner_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_building_block_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_building_block_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_move_fake_food": { + "Cobot_Magic_drawer_storage_mineral_water": { + "path": "Cobot_Magic_drawer_storage_mineral_water", + "dataset_name": "drawer_storage_mineral_water", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "pull", + "push" + ], + "tasks": "Open the drawer.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mineral_water", + "level1": "drink", + "level2": "mineral_water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "drawer", + "level1": "container", + "level2": "drawer", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-55966", + "dataset_size": "944.2MB", + "statistics": { + "total_episodes": 99, + "total_frames": 55966, + "total_tasks": 1, + "total_videos": 297, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "b3ab23c8-c660-442b-a379-1dad52a7e701", + "language": [ + "en", + "zh" + ], "task_categories": [ "robotics" ], - "language": [ - "en" + "sub_tasks": [ + "Open the drawer.", + "Place the water bottle inside the drawer.", + "Close the drawer.", + "null" ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_drawer_storage_mineral_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AgiBot-g1_left_capture_part": { + "path": "AgiBot-g1_left_capture_part", + "dataset_name": "left_capture_part", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_move_fake_food", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "household", - "level2": "living_room", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "scene_type": [], + "atomic_actions": [ + "grasp" + ], + "tasks": "Pick up the front USB bracket from the feeding area.", "objects": [ { - "object_name": "early_education_toys", - "level1": "toys", - "level2": "early_education_toys", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "put the toy food on the toy table with your right hand." - ], - "sub_tasks": [ - { - "subtask": "End", - "subtask_index": 0 }, { - "subtask": "Grasp the small bowl of canned food with right gripper", - "subtask_index": 1 - }, - { - "subtask": "Place the small bowl of canned food on the table with the right gripper", - "subtask_index": 2 + "object_name": "part", + "level1": "tool", + "level2": "part", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Abnormal", - "subtask_index": 3 + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 4 + "object_name": "black_container", + "level1": "container", + "level2": "black_container", + "level3": null, + "level4": null, + "level5": null } ], - "atomic_actions": [ - "grasp", - "pick", - "place" + "operation_platform_height": null, + "frame_range": "0-174563", + "dataset_size": "97.3GB", + "statistics": { + "total_episodes": 464, + "total_frames": 174563, + "total_tasks": 1, + "total_videos": 3712, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "66d07878-2211-48d2-8cd0-1df8f2cd83a3", + "language": [ + "en", + "zh" ], - "robot_name": [ - "Airbot_MMK2" + "task_categories": [ + "robotics" ], - "end_effector_type": "five_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "sub_tasks": [ + "Pick up the front USB bracket from the feeding area.", + "Place the front USB bracket into the box.", + "null" ], - "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", - "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" + "data_schema": "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_left_capture_part_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_take_clothes_out_of_the_washing_machine": { + "path": "R1_Lite_take_clothes_out_of_the_washing_machine", + "dataset_name": "take_clothes_out_of_the_washing_machine", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Press the washing machine switch", + "objects": [ + { + "object_name": "washing_machine", + "level1": "electrical_appliances", + "level2": "washing_machine", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cloth", + "level1": "clothing", + "level2": "cloth", + "level3": null, + "level4": null, + "level5": null + } ], + "operation_platform_height": null, + "frame_range": "0-238333", + "dataset_size": "16.1GB", "statistics": { - "total_episodes": 50, - "total_frames": 7610, - "fps": 30, - "total_tasks": 5, - "total_videos": 200, + "total_episodes": 114, + "total_frames": 238333, + "total_tasks": 1, + "total_videos": 342, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "313.62 MB" + "fps": 30 }, - "frame_num": 7610, - "dataset_size": "313.62 MB", - "data_structure": "Airbot_MMK2_move_fake_food_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", - "splits": { - "train": "0:49" - }, - "features": { - "observation.images.cam_head_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_left_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_front_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.state": { - "dtype": "float32", - "shape": [ - 36 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" - ] - }, - "action": { - "dtype": "float32", - "shape": [ - 36 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" - ] - }, - "timestamp": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": null - }, - "frame_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "episode_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "task_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "subtask_annotation": { - "names": null, - "shape": [ - 5 - ], - "dtype": "int32" - }, - "scene_annotation": { - "names": null, - "shape": [ - 1 - ], - "dtype": "int32" - }, - "eef_sim_pose_state": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" - }, - "eef_sim_pose_action": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" - }, - "eef_direction_state": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_direction_action": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_velocity_state": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_velocity_action": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_acc_mag_state": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_acc_mag_action": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" - } - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" - } - ] - }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" - }, - "Galbot_g1_steamer_storage_baozi_h": { - "path": "Galbot_g1_steamer_storage_baozi_h", - "dataset_name": "steamer_storage_baozi_h", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "baozi", - "level1": "food", - "level2": "baozi", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "steamer", - "level1": "cookware", - "level2": "steamer", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pot_lid", - "level1": "daily_necessities", - "level2": "pot_lid", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-979757", - "dataset_size": "18.2GB", - "statistics": { - "total_episodes": 996, - "total_frames": 979757, - "total_tasks": 1, - "total_videos": 2988, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "23188104-2751-4169-b13b-286381a44645", + "dataset_uuid": "75315916-19f4-400c-99a4-2bd123e2a42a", "language": [ "en", "zh" @@ -16242,11 +13616,17 @@ "robotics" ], "sub_tasks": [ + "Press the washing machine switch", + "Close the washing machine door with the right hand", + "Open the lid of the washing machine", + "Close the washing machine door with the left hand", + "Pick a cloth and place it into the basket", + "Place the clothes into the washing machine", "End", - "Place the baozi on the steamer with right gripper", - "Place the pot lid on the steamer with left gripper", - "Grasp the pot lid with left gripper", - "Grasp the baozi in the plate with right gripper", + "Press the washing machine door tightly with the right hand", + "abnormal", + "Pick up the clothes basket and put it beside the washing machine", + "Move to the front of the washing machine", "null" ], "annotations": { @@ -16284,15 +13664,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_take_clothes_out_of_the_washing_machine_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_pass_the_cleaner_b": { - "path": "leju_robot_pass_the_cleaner_b", - "dataset_name": "pass_the_cleaner_b", + "Cobot_Magic_move_the_bread": { + "path": "Cobot_Magic_move_the_bread", + "dataset_name": "move_the_bread", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ @@ -16300,7 +13680,7 @@ "pick", "place" ], - "tasks": "Turn the bottle to the front side.", + "tasks": "Pick the yellow bread on the yellow plate", "objects": [ { "object_name": "table", @@ -16311,27 +13691,35 @@ "level5": null }, { - "object_name": "cleaner", - "level1": "daily_necessities", - "level2": "cleaner", + "object_name": "bread", + "level1": "food", + "level2": "bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-164222", - "dataset_size": "8.5GB", + "operation_platform_height": 77.2, + "frame_range": "0-57401", + "dataset_size": "981.4MB", "statistics": { - "total_episodes": 441, - "total_frames": 164222, + "total_episodes": 99, + "total_frames": 57401, "total_tasks": 1, - "total_videos": 1323, + "total_videos": 297, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "fps": 50 }, - "dataset_uuid": "ceb2e30d-5b33-4f0f-b9e0-a88ee69d8e21", + "dataset_uuid": "0279dfc1-8833-47b1-b5de-c7b01c3aef4c", "language": [ "en", "zh" @@ -16340,8 +13728,10 @@ "robotics" ], "sub_tasks": [ - "Turn the bottle to the front side.", - "Pick up the bottle from the table.", + "Pick the yellow bread on the yellow plate", + "Place the yellow bread on the table", + "Place the picked object on the yellow plate", + "Grasp the yellow bread on the table", "null" ], "annotations": { @@ -16379,12 +13769,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_pass_the_cleaner_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_pass_the_cleaner_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_move_the_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_move_the_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_place_the_test_tube": { - "path": "Cobot_Magic_place_the_test_tube", - "dataset_name": "place_the_test_tube", + "RMC-AIDA-L_basket_storage_long_bread": { + "path": "RMC-AIDA-L_basket_storage_long_bread", + "dataset_name": "basket_storage_long_bread", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -16395,7 +13785,7 @@ "pick", "place" ], - "tasks": "Place the test tubes on the test tube rack with the right gripper", + "tasks": "Place the long bread into the basket with the left gripper", "objects": [ { "object_name": "table", @@ -16406,43 +13796,35 @@ "level5": null }, { - "object_name": "test_tube", - "level1": "tool", - "level2": "test_tube", + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { - "object_name": "test_tube_rack", - "level1": "tool", - "level2": "test_tube_rack", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "basket", + "level1": "container", + "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-308346", - "dataset_size": "6.0GB", + "frame_range": "0-343253", + "dataset_size": "3.9GB", "statistics": { - "total_episodes": 364, - "total_frames": 308346, + "total_episodes": 753, + "total_frames": 343253, "total_tasks": 6, - "total_videos": 1092, + "total_videos": 2259, "total_chunks": 1, "chunks_size": 1000, - "fps": 50 + "fps": 30 }, - "dataset_uuid": "070ad40e-7f20-4d3e-82d6-9cb8c0fb1f74", + "dataset_uuid": "2a54716c-882f-4e89-a882-50b8c7b5b821", "language": [ "en", "zh" @@ -16451,18 +13833,34 @@ "robotics" ], "sub_tasks": [ - "Place the test tubes on the test tube rack with the right gripper", - "Lift the test tube with the left hand.", + "Place the long bread into the basket with the left gripper", + "Place the long bread into the dark basket with the right gripper", + "Place the light basket in the center of view with the left gripper", + "Place the long bread into the light basket with the right gripper", + "Place the basket in the center of the table with the left gripper", + "Pick up the basket with the left gripper", + "Grasp the long bread with right gripper", + "Place the long bread into the light basket with the left gripper", + "Place the basket in the center of view with the left gripper", + "Pick up the light basket with the left gripper", + "Place the long bread into the dark basket with the left gripper", + "Place the light basket in the center of view with the right gripper", + "Place the dark basket in the center of view with the right gripper", + "Abnormal", + "Move the light basket to the center of view with the left gripper", + "Pick up the basket with the right gripper", + "Place the basket in the center of view with the right gripper", + "Place the long bread in the basket with right gripper", "End", - "Pass the test tube from the left gripper to the right gripper", - "Pick up the test tubes from the table", - "Place the test tubes on the rack", - "Hand over the test tubes", - "Grab the test tube with the left hand.", - "Receive the test tube with the right hand.", - "Pick up the test tube with the left gripper", - "Insert it into the hole at the intersection of the 5th row from the top and the 5th column from the left with the right hand.", - "abnormal", + "Place the dark basket in the center of view with the left gripper", + "Pick up the light basket with the right gripper", + "Place the long bread into the basket with the right gripper", + "Grasp the basket with the left gripper", + "Static", + "Pick up the long bread with the right gripper", + "Pick up the dark basket with the left gripper", + "Pick up the long bread with the left gripper", + "Pick up the dark basket with the right gripper", "null" ], "annotations": { @@ -16500,24 +13898,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_place_the_test_tube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_place_the_test_tube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galbot_g1_fold_clothe_c": { - "path": "Galbot_g1_fold_clothe_c", - "dataset_name": "fold_clothe_c", + "leju_robot_hotel_services_ah": { + "path": "leju_robot_hotel_services_ah", + "dataset_name": "hotel_services_ah", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", "pick", - "place", - "flod" + "place" ], - "tasks": "Abnormal", + "tasks": "Pick up the key card from the card box.", "objects": [ { "object_name": "table", @@ -16528,27 +13925,43 @@ "level5": null }, { - "object_name": "clothes", - "level1": "fabric", - "level2": "clothes", + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "card", + "level1": "nfc", + "level2": "card", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-516810", - "dataset_size": "22.3GB", + "frame_range": "0-8145", + "dataset_size": "542.6MB", "statistics": { - "total_episodes": 666, - "total_frames": 516810, + "total_episodes": 44, + "total_frames": 8145, "total_tasks": 1, - "total_videos": 1998, + "total_videos": 132, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "9c9c15eb-08d9-4119-b551-ce2439643f0f", + "dataset_uuid": "d6db4bde-0fc4-4f4c-b80a-f12034b9d043", "language": [ "en", "zh" @@ -16557,17 +13970,8 @@ "robotics" ], "sub_tasks": [ - "Abnormal", - "use the left gripper to clamp the left edge of the fabric", - "Drag the clothes to the center of the table", - "End", - "use both grippers simultaneously to clamp the upper edge of the clothing fabric", - "use both grippers to drag the lower edge of the fabric forward and fold it over the upper edge", - "use both grippers to drag the upper edge of the fabric backward and fold it over the lower edge", - "use both grippers simultaneously to clamp the lower edge of the clothing fabric", - "Drag the clothes downward with both gripper", - "use the left gripper to drag the left edge of the fabric to the left and folds it over the right edge", - "Flip the folded clothes over with left gripper", + "Pick up the key card from the card box.", + "Hand the key card to the target.", "null" ], "annotations": { @@ -16605,12 +14009,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Galbot_g1_fold_clothe_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Galbot_g1_fold_clothe_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_hotel_services_ah_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_ah_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_open_the_food_pan": { - "path": "R1_Lite_open_the_food_pan", - "dataset_name": "open_the_food_pan", + "AgiBot-g1_box_storage_e": { + "path": "AgiBot-g1_box_storage_e", + "dataset_name": "box_storage_e", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -16618,10 +14022,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "place", + "pick" ], - "tasks": "Hold the pot lid with the right arm", + "tasks": "Place the mouse and the power cord paper box into the container.", "objects": [ { "object_name": "table", @@ -16632,27 +14036,35 @@ "level5": null }, { - "object_name": "pan", + "object_name": "box", "level1": "container", - "level2": "pan", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "carton", + "level1": "container", + "level2": "carton", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-74981", - "dataset_size": "2.6GB", + "frame_range": "0-33264", + "dataset_size": "13.0GB", "statistics": { - "total_episodes": 94, - "total_frames": 74981, + "total_episodes": 58, + "total_frames": 33264, "total_tasks": 1, - "total_videos": 282, + "total_videos": 464, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "41f586d5-51f7-456a-b30f-ca5a7e7555c2", + "dataset_uuid": "6fc368f2-1d50-44e7-ab39-3a3405e14efc", "language": [ "en", "zh" @@ -16661,12 +14073,8 @@ "robotics" ], "sub_tasks": [ - "Hold the pot lid with the right arm", - "Close the pot lid", - "Open the pot lid completely", - "Hold the pot lid with the left arm", - "Open the food pot lid a small opening with the right arm", - "Open the food pot lid a small opening with the left arm", + "Place the mouse and the power cord paper box into the container.", + "Pick up the mouse and the power cord paper box.", "null" ], "annotations": { @@ -16704,12 +14112,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_open_the_food_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_open_the_food_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_box_storage_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_box_storage_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_pass_the_cleaner_e": { - "path": "leju_robot_pass_the_cleaner_e", - "dataset_name": "pass_the_cleaner_e", + "leju_robot_moving_parts_a": { + "path": "leju_robot_moving_parts_a", + "dataset_name": "moving_parts_a", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -16720,7 +14128,7 @@ "pick", "place" ], - "tasks": "Turn the bottle to the front side.", + "tasks": "Grasp the gray part with right gripper", "objects": [ { "object_name": "table", @@ -16731,27 +14139,35 @@ "level5": null }, { - "object_name": "cleaner", - "level1": "daily_necessities", - "level2": "cleaner", + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-165558", - "dataset_size": "8.6GB", + "frame_range": "0-557980", + "dataset_size": "34.2GB", "statistics": { - "total_episodes": 430, - "total_frames": 165558, + "total_episodes": 380, + "total_frames": 557980, "total_tasks": 1, - "total_videos": 1290, + "total_videos": 1140, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "5857e16d-9974-4991-a27c-549f3ba35f03", + "dataset_uuid": "e595bb4f-5c6e-4271-9364-10c9f3f695b0", "language": [ "en", "zh" @@ -16760,8 +14176,18 @@ "robotics" ], "sub_tasks": [ - "Turn the bottle to the front side.", - "Pick up the bottle from the table.", + "Grasp the gray part with right gripper", + "Move to the table behind body", + "Grasp the white part with right gripper", + "Grasp the white part with left gripper", + "Place the gray part on the table with right gripper", + "Place the white part on the table with left gripper", + "Place the white part on the table with right gripper", + "End", + "Move to the initial position at the workbench.", + "Insert the small parts into the corresponding holes on the workbench.", + "Pick up the small parts from the shelf.", + "Move the small parts to the workbench.", "null" ], "annotations": { @@ -16799,15 +14225,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_pass_the_cleaner_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_pass_the_cleaner_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_moving_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_basket_storage_orange": { - "path": "RMC-AIDA-L_basket_storage_orange", - "dataset_name": "basket_storage_orange", + "leju_robot_hotel_services_ag": { + "path": "leju_robot_hotel_services_ag", + "dataset_name": "hotel_services_ag", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ @@ -16815,7 +14241,7 @@ "pick", "place" ], - "tasks": "Place the dark basket in the center of view with the right gripper", + "tasks": "Pick up the key card from the card box.", "objects": [ { "object_name": "table", @@ -16826,35 +14252,43 @@ "level5": null }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", + "object_name": "box", + "level1": "home_storage", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", + "object_name": "card", + "level1": "nfc", + "level2": "card", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-112423", - "dataset_size": "1.1GB", + "operation_platform_height": null, + "frame_range": "0-72556", + "dataset_size": "4.6GB", "statistics": { - "total_episodes": 356, - "total_frames": 112423, - "total_tasks": 4, - "total_videos": 1068, + "total_episodes": 428, + "total_frames": 72556, + "total_tasks": 1, + "total_videos": 1284, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "f96c79dc-15ee-43ed-8c21-1e898a816ee6", + "dataset_uuid": "fe6eebfa-58f5-4409-aad8-bc8aa39381cc", "language": [ "en", "zh" @@ -16863,21 +14297,8 @@ "robotics" ], "sub_tasks": [ - "Place the dark basket in the center of view with the right gripper", - "Place the light basket in the center of view with the right gripper", - "Place the orange into the dark basket with the left gripper", - "Place the dark basket in the center of view with the left gripper", - "end", - "Place the orange into the light basket with the left gripper", - "Pick up the light basket with the right gripper", - "Place the orange into the light basket with the right gripper", - "Pick up the orange with the right gripper", - "Place the light basket in the center of view with the left gripper", - "Pick up the dark basket with the left gripper", - "Pick up the light basket with the left gripper", - "Pick up the dark basket with the right gripper", - "Pick up the orange with the left gripper", - "Place the orange into the dark basket with the right gripper", + "Pick up the key card from the card box.", + "Hand the key card to the target.", "null" ], "annotations": { @@ -16915,24 +14336,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_basket_storage_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_basket_storage_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_hotel_services_ag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_ag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Split_aloha_scoop_coffee_beans": { - "path": "Split_aloha_scoop_coffee_beans", - "dataset_name": "scoop_coffee_beans", + "Split_aloha_basket_storage_banana": { + "path": "Split_aloha_basket_storage_banana", + "dataset_name": "basket_storage_banana", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "scoop", "grasp", - "pick", - "place" + "place", + "pick" ], - "tasks": "Place the spoon back in its original place", + "tasks": "End", "objects": [ { "object_name": "table", @@ -16943,51 +14363,35 @@ "level5": null }, { - "object_name": "cup", - "level1": "container", - "level2": "cup", + "object_name": "banana", + "level1": "fruit", + "level2": "banana", "level3": null, "level4": null, "level5": null }, { - "object_name": "cup_lid", + "object_name": "basket", "level1": "container", - "level2": "cup_lid", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "coffee_beans", - "level1": "food", - "level2": "coffee_beans", + "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-409440", - "dataset_size": "3.8GB", + "frame_range": "0-164327", + "dataset_size": "2.8GB", "statistics": { - "total_episodes": 499, - "total_frames": 409440, - "total_tasks": 8, - "total_videos": 1497, + "total_episodes": 368, + "total_frames": 164327, + "total_tasks": 1, + "total_videos": 1104, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "643f286d-7021-4fb1-8c63-aecd24fb763e", + "dataset_uuid": "e9d8e155-1dc0-4402-b406-4b59d65884c7", "language": [ "en", "zh" @@ -16996,11 +14400,13 @@ "robotics" ], "sub_tasks": [ - "Place the spoon back in its original place", - "Move the cup to the center of view", - "Pick up the spoon", - "Scoop a spoonful of beans into the cup", - "abnormal", + "End", + "Place the banana in the basket with right gripper", + "Grasp the banana with right gripper", + "Place the basket in the center of the table with the left gripper", + "Grasp the basket with the left gripper", + "Static", + "Abnormal", "null" ], "annotations": { @@ -17038,12 +14444,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Split_aloha_scoop_coffee_beans_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_scoop_coffee_beans_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Split_aloha_basket_storage_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_basket_storage_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_put_on_a_garbage_bag": { - "path": "R1_Lite_put_on_a_garbage_bag", - "dataset_name": "put_on_a_garbage_bag", + "Cobot_Magic_classification_of_fruits_and_vegetables": { + "path": "Cobot_Magic_classification_of_fruits_and_vegetables", + "dataset_name": "classification_of_fruits_and_vegetables", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -17054,46 +14460,62 @@ "pick", "place" ], - "tasks": "Abnormal", + "tasks": "use the left arm to grab a carrot and put it into the right plate", "objects": [ { - "object_name": "trash_bag", - "level1": "container", - "level2": "trash_bag", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "trash_can", - "level1": "container", - "level2": "trash_can", + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { - "object_name": "trash_can_ring", - "level1": "daily_necessities", - "level2": "trash_can_ring", + "object_name": "white_carrot", + "level1": "vegetables", + "level2": "white_carrot", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eggplant", + "level1": "vegetables", + "level2": "eggplant", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-252689", - "dataset_size": "11.0GB", + "frame_range": "0-183132", + "dataset_size": "9.7GB", "statistics": { - "total_episodes": 133, - "total_frames": 252689, - "total_tasks": 1, - "total_videos": 399, + "total_episodes": 301, + "total_frames": 183132, + "total_tasks": 4, + "total_videos": 903, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "c689a888-c8c9-4a05-a250-680b40218803", + "dataset_uuid": "792e3e06-8f5e-444d-9a30-740d091a9209", "language": [ "en", "zh" @@ -17102,19 +14524,23 @@ "robotics" ], "sub_tasks": [ - "Abnormal", - "End", - "Grasp a new trash bag with the right gripper", - "put the new garbage bag on the trash can", - "Place the trash can ring on the trash can with the right gripper", - "Pick up the trash bag", - "Grasp the trash bag with the right gripper", - "place the trash can ring on the floor with right gripper", - "Place the trash bag on the floor with the right gripper", - "Place the trash can ring on the floor", - "Pick up a new trash bag", - "Place the trash can ring on the trash can", - "Place the trash bag on the floor", + "use the left arm to grab a carrot and put it into the right plate", + "use the right arm to grab a radish and put it into the right plate", + "use the left arm to grab a radish and put it into the right plate", + "use the left arm to grab an eggplant and put it into the left plate", + "use the right arm to grab a chayote and put it into the right plate", + "use the left arm to grab a tomato and put it into the left plate", + "use the right arm to grab a radish and put it into the left plate", + "use the left arm to grab a radish and put it into the left plate", + "use the left arm to grab a chayote and put it into the right plate", + "use the left arm to grab a chayote and put it into the left plate", + "use the right arm to grab an eggplant and put it into the left plate", + "use the left arm to grab an eggplant and put it into the right plate", + "use the right arm to grab a carrot and put it into the right plate", + "use the left arm to grab a carrot and put it into the left plate", + "use the right arm to grab a carrot and put it into the left plate", + "use the right arm to grab a tomato and put it into the left plate", + "use the right arm to grab an eggplant and put it into the right plate", "null" ], "annotations": { @@ -17152,23 +14578,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_put_on_a_garbage_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_put_on_a_garbage_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_classification_of_fruits_and_vegetables_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_hotel_services_f": { - "path": "leju_robot_hotel_services_f", - "dataset_name": "hotel_services_f", + "Split_aloha_basket_storage_long_bread": { + "path": "Split_aloha_basket_storage_long_bread", + "dataset_name": "basket_storage_long_bread", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "place", + "pick" ], - "tasks": "Hand the room key to the person.", + "tasks": "Grasp the long bread with right gripper", "objects": [ { "object_name": "table", @@ -17179,43 +14605,35 @@ "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "card", - "level1": "nfc", - "level2": "card", + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", + "object_name": "basket", + "level1": "container", + "level2": "basket", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-95863", - "dataset_size": "6.3GB", + "operation_platform_height": 77.2, + "frame_range": "0-129236", + "dataset_size": "3.7GB", "statistics": { - "total_episodes": 135, - "total_frames": 95863, + "total_episodes": 311, + "total_frames": 129236, "total_tasks": 1, - "total_videos": 405, + "total_videos": 933, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "9c2a5a4c-c510-4e80-983e-593589a8eec6", + "dataset_uuid": "3edf5fc6-ba54-4b74-901e-ac0b49ed35b3", "language": [ "en", "zh" @@ -17224,16 +14642,18 @@ "robotics" ], "sub_tasks": [ - "Hand the room key to the person.", - "Place the ID card on the card reader.", - "Take the ID card from the person's hand.", - "Pick up the room key from the key card box.", - "Hand the ID card to the person.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", + "Grasp the long bread with right gripper", + "Grasp the basket with the left gripper", + "End", + "Place the long bread in the basket with right gripper", + "Place the basket in the center of the table with the left gripper", + "Abnormal", + "Static", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", "eef_direction": "auto_generated", "eef_velocity": "auto_generated", "eef_acc_mag": "auto_generated", @@ -17266,12 +14686,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Split_aloha_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_basket_storage_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_pullBowl_storage_bread_unordered_C": { - "path": "G1edu-u3_pullBowl_storage_bread_unordered_C", - "dataset_name": "pullBowl_storage_bread_unordered_C", + "leju_robot_moving_parts_n": { + "path": "leju_robot_moving_parts_n", + "dataset_name": "moving_parts_n", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -17282,7 +14702,7 @@ "pick", "place" ], - "tasks": "Place the long bread in pink bowl with left hand", + "tasks": "Place the black part on the table with right gripper", "objects": [ { "object_name": "table", @@ -17293,59 +14713,144 @@ "level5": null }, { - "object_name": "basket", - "level1": "home_storage", - "level2": "basket", + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": null, + "frame_range": "0-738613", + "dataset_size": "51.0GB", + "statistics": { + "total_episodes": 492, + "total_frames": 738613, + "total_tasks": 1, + "total_videos": 1476, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "45be2265-aabd-465a-ba72-7ad2a60ed23e", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the black part on the table with right gripper", + "Pick up the large material from the shelf.", + "Insert the large material into the corresponding slot on the workbench.", + "End", + "Grasp the black part with right gripper", + "Move the large material to the workbench.", + "Move to the initial position of the shelf.", + "Move to the table behind body", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_moving_parts_n_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_n_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AgiBot-g1_pick_up_battery": { + "path": "AgiBot-g1_pick_up_battery", + "dataset_name": "pick_up_battery", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Grab the main unit power supply from the containment box.", + "objects": [ { - "object_name": "bowl", - "level1": "bowl", - "level2": "bowl", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "donut", - "level1": "food", - "level2": "donut", + "object_name": "carton", + "level1": "container", + "level2": "carton", "level3": null, "level4": null, "level5": null }, { - "object_name": "cake", - "level1": "bread", - "level2": "cake", + "object_name": "battery", + "level1": "tool", + "level2": "battery", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-110085", - "dataset_size": "2.2GB", + "operation_platform_height": null, + "frame_range": "0-185469", + "dataset_size": "95.3GB", "statistics": { - "total_episodes": 190, - "total_frames": 110085, + "total_episodes": 387, + "total_frames": 185469, "total_tasks": 1, - "total_videos": 570, + "total_videos": 3096, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a51", + "dataset_uuid": "16b21b98-c079-4363-863b-54db1f5d5ebe", "language": [ "en", "zh" @@ -17354,12 +14859,8 @@ "robotics" ], "sub_tasks": [ - "Place the long bread in pink bowl with left hand", - "End", - "Grasp the round bread with left hand", - "Grasp the long bread with left hand", - "Place the round bread in pink bowl with left hand", - "Move the pink bowl to the center of table with right hand", + "Grab the main unit power supply from the containment box.", + "Place the main unit power supply in the designated area.", "null" ], "annotations": { @@ -17397,23 +14898,24 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_pick_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_plate_storage": { - "path": "RMC-AIDA-L_plate_storage", - "dataset_name": "plate_storage", + "AIRBOT_MMK2_diamond_storage": { + "path": "AIRBOT_MMK2_diamond_storage", + "dataset_name": "diamond_storage", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", "pick", - "place" + "place", + "cover" ], - "tasks": "Place the plate on the shelf with the right gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -17424,35 +14926,35 @@ "level5": null }, { - "object_name": "plate", + "object_name": "box", "level1": "container", - "level2": "plate", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "shelf", - "level1": "furniture", - "level2": "shelf", + "object_name": "diamond", + "level1": "mineral", + "level2": "diamond", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-284602", - "dataset_size": "1.8GB", + "frame_range": "0-9131", + "dataset_size": "426.8MB", "statistics": { - "total_episodes": 498, - "total_frames": 284602, - "total_tasks": 2, - "total_videos": 1494, + "total_episodes": 50, + "total_frames": 9131, + "total_tasks": 1, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "8c203fd8-2988-4e8f-8ddc-eedbb69dcdfe", + "dataset_uuid": "07392499-4ada-4393-b1db-c07154012f54", "language": [ "en", "zh" @@ -17461,14 +14963,10 @@ "robotics" ], "sub_tasks": [ - "Place the plate on the shelf with the right gripper", "End", - "Pick up the plate with the right gripper", - "Pick up the plate with the left gripper", - "Pass the plate from the left gripper to the right gripper", - "Pass the plate from the right gripper to the left gripper", - "Place the plate on the shelf with the left gripper", - "abnormal", + "Place the diamond ring in the box with the right gripper", + "Close the lid of the box with the left gripper", + "Grasp the diamond ring with the right gripper", "null" ], "annotations": { @@ -17506,1604 +15004,427 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_diamond_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_diamond_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galaxea_R1_Lite_mix_red_blue_right": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" + "Split_aloha_plate_storage": { + "path": "Split_aloha_plate_storage", + "dataset_name": "plate_storage", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_mix_red_blue_right", - "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.", + "tasks": "Pass the plate from the left gripper to the right gripper", "objects": [ { - "object_name": "red_pigment", - "level1": "materials", - "level2": "red_pigment", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "blue_pigment", - "level1": "materials", - "level2": "blue_pigment", + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "yellow_pigment", - "level1": "materials", - "level2": "yellow_pigment", + "object_name": "plate_rack", + "level1": "furniture", + "level2": "plate_rack", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-229687", + "dataset_size": "2.6GB", + "statistics": { + "total_episodes": 499, + "total_frames": 229687, + "total_tasks": 5, + "total_videos": 1497, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "7f2dd151-758c-4265-89b3-5d486f875ef8", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pass the plate from the left gripper to the right gripper", + "Place the plate on the shelf", + "Pass the plate from the right gripper to the left gripper", + "Pick up the plate with the left gripper", + "Pick up the plate with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Split_aloha_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AgiBot-g1_box_storage_cardboard_box_a": { + "path": "AgiBot-g1_box_storage_cardboard_box_a", + "dataset_name": "box_storage_cardboard_box_a", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Place the mouse and the power cord paper box into the container.", + "objects": [ { - "object_name": "test_tube_rack", - "level1": "holding_utensils", - "level2": "test_tube_rack", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "test_tubes", - "level1": "laboratory_supplies", - "level2": "test_tubes", + "object_name": "paper_box", + "level1": "tool", + "level2": "paper_box", "level3": null, "level4": null, "level5": null }, { - "object_name": "beaker", - "level1": "holding_utensils", - "level2": "beaker", + "object_name": "carton", + "level1": "tool", + "level2": "carton", "level3": null, "level4": null, "level5": null } ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "pick up the test tube with red pigment and the test tube with blue pigment by grippers and pour them into the container." - ], - "sub_tasks": [ - { - "subtask": "Pour the red reagent into the graduated cylinder with right gripper", - "subtask_index": 0 - }, - { - "subtask": "Pour the red reagent into the graduated cylinder with the right gripper", - "subtask_index": 1 - }, - { - "subtask": "Pick up the test tube containing the red reagent with right gripper", - "subtask_index": 2 - }, - { - "subtask": "End", - "subtask_index": 3 - }, - { - "subtask": "Place the test tube into the bowl with right gripper", - "subtask_index": 4 - }, - { - "subtask": "Pour the blue reagent into the graduated cylinder with the right gripper", - "subtask_index": 5 - }, - { - "subtask": "Pick up the test tube containing the blue reagent with right gripper", - "subtask_index": 6 - }, - { - "subtask": "Pour the blue reagent into the graduated cylinder with right gripper", - "subtask_index": 7 - }, - { - "subtask": "Grasp the blue reagent with the right gripper", - "subtask_index": 8 - }, - { - "subtask": "Grasp the yellow reagent with the right gripper", - "subtask_index": 9 - }, - { - "subtask": "Pour the yellow reagent into the graduated cylinder with the right gripper", - "subtask_index": 10 - }, - { - "subtask": "end", - "subtask_index": 11 - }, - { - "subtask": "Place the test tube into the bowl with the right gripper", - "subtask_index": 12 - }, - { - "subtask": "Grasp the red reagent with the right gripper", - "subtask_index": 13 - }, - { - "subtask": "null", - "subtask_index": 14 - } - ], - "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" - ], + "operation_platform_height": null, + "frame_range": "0-188369", + "dataset_size": "87.9GB", "statistics": { - "total_episodes": 50, - "total_frames": 32072, - "fps": 30, - "total_tasks": 15, - "total_videos": 200, + "total_episodes": 402, + "total_frames": 188369, + "total_tasks": 1, + "total_videos": 3216, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, - "camera_views": 4, - "dataset_size": "647.52 MB" + "fps": 30 }, - "frame_num": 32072, - "dataset_size": "647.52 MB", - "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_blue_right_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", - "splits": { - "train": "0:49" - }, - "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" - } + "dataset_uuid": "15be5a22-893f-4c6d-8562-afa106f6846f", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the mouse and the power cord paper box into the container.", + "Pick up the mouse and the power cord paper box.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } ] }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" - }, - "Airbot_MMK2_storage_cup_rubik's_cube": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], + "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_box_storage_cardboard_box_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_switch_on_and_off_the_central_air_conditioning": { + "path": "R1_Lite_switch_on_and_off_the_central_air_conditioning", + "dataset_name": "switch_on_and_off_the_central_air_conditioning", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_cup_rubik's_cube", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "household", - "level2": "living_room", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Turn off the central air conditioner", "objects": [ { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cup", - "level1": "kitchen_supplies", - "level2": "cup", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rubik's_cube", - "level1": "toys", - "level2": "rubik's_cube", + "object_name": "central_air_conditioning", + "level1": "household_appliances", + "level2": "central_air_conditioning", "level3": null, "level4": null, "level5": null } ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "put the rubik's Cube into the plate with right hand and place the cup on top of the cube with left hand." + "operation_platform_height": null, + "frame_range": "0-19688", + "dataset_size": "793.3MB", + "statistics": { + "total_episodes": 35, + "total_frames": 19688, + "total_tasks": 1, + "total_videos": 105, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "6d6d5868-e715-41cc-a7df-972218e02479", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" ], "sub_tasks": [ - { - "subtask": "Grasp the paper cup with the left gripper", - "subtask_index": 0 - }, - { - "subtask": "Place the paper cup on the magic cube with the left gripper", - "subtask_index": 1 - }, - { - "subtask": "Place the magic cube on the plate with the right gripper", - "subtask_index": 2 - }, - { - "subtask": "Abnormal", - "subtask_index": 3 - }, - { - "subtask": "Grasp the magic cube with the right gripper", - "subtask_index": 4 - }, - { - "subtask": "End", - "subtask_index": 5 - }, - { - "subtask": "null", - "subtask_index": 6 - } - ], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "robot_name": [ - "Airbot_MMK2" - ], - "end_effector_type": "five_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" - ], - "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" - }, - "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", - "annotations": [ - "eef_acc_mag_annotation.jsonl", - "eef_direction_annotation.jsonl", - "eef_velocity_annotation.jsonl", - "gripper_activity_annotation.jsonl", - "gripper_mode_annotation.jsonl", - "scene_annotations.jsonl", - "subtask_annotations.jsonl" + "Turn off the central air conditioner", + "Press the temperature decrease button", + "Press the temperature increase button", + "Turn on the central air conditioner", + "null" ], - "statistics": { - "total_episodes": 47, - "total_frames": 13787, - "fps": 30, - "total_tasks": 7, - "total_videos": 188, - "total_chunks": 1, - "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "387.14 MB" - }, - "frame_num": 13787, - "dataset_size": "387.14 MB", - "data_structure": "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", - "splits": { - "train": "0:46" - }, - "features": { - "observation.images.cam_head_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_left_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_front_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.state": { - "dtype": "float32", - "shape": [ - 36 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" - ] - }, - "action": { - "dtype": "float32", - "shape": [ - 36 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" - ] - }, - "timestamp": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": null - }, - "frame_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "episode_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "task_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "subtask_annotation": { - "names": null, - "shape": [ - 5 - ], - "dtype": "int32" - }, - "scene_annotation": { - "names": null, - "shape": [ - 1 - ], - "dtype": "int32" - }, - "eef_sim_pose_state": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" - }, - "eef_sim_pose_action": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" - }, - "eef_direction_state": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_direction_action": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_velocity_state": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_velocity_action": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_acc_mag_state": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_acc_mag_action": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" - } + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } ] }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" - }, - "Airbot_MMK2_storage_spoon": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], + "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_switch_on_and_off_the_central_air_conditioning_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_plate_storage_rabbit_doll": { + "path": "G1edu-u3_plate_storage_rabbit_doll", + "dataset_name": "plate_storage_rabbit_doll", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_spoon", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "household", - "level2": "kitchen", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the rabbit doll into the plate with the left gripper", "objects": [ { - "object_name": "spoon", + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", "level1": "kitchen_supplies", - "level2": "spoon", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "basin", - "level1": "home_storage", - "level2": "basin", + "object_name": "rabbit_doll", + "level1": "toy", + "level2": "rabbit_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": [ - "pick up the spoons on the table by hand and place them into the basin." - ], - "sub_tasks": [ - { - "subtask": "Grasp the spoon with the right gripper", - "subtask_index": 0 - }, - { - "subtask": "End", - "subtask_index": 1 - }, - { - "subtask": "Grasp the spoon with the left gripper", - "subtask_index": 2 - }, - { - "subtask": "Place the spoon into the basin with the right gripper", - "subtask_index": 3 - }, - { - "subtask": "Place the spoon into the basin with the left gripper", - "subtask_index": 4 - }, - { - "subtask": "null", - "subtask_index": 5 - } - ], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "robot_name": [ - "Airbot_MMK2" - ], - "end_effector_type": "five_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" - ], - "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" - }, - "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", - "annotations": [ - "eef_acc_mag_annotation.jsonl", - "eef_direction_annotation.jsonl", - "eef_velocity_annotation.jsonl", - "gripper_activity_annotation.jsonl", - "gripper_mode_annotation.jsonl", - "scene_annotations.jsonl", - "subtask_annotations.jsonl" - ], + "operation_platform_height": 77.2, + "frame_range": "0-76754", + "dataset_size": "378.4MB", "statistics": { - "total_episodes": 54, - "total_frames": 15550, - "fps": 30, - "total_tasks": 6, - "total_videos": 216, + "total_episodes": 227, + "total_frames": 76754, + "total_tasks": 1, + "total_videos": 227, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "509.63 MB" - }, - "frame_num": 15550, - "dataset_size": "509.63 MB", - "data_structure": "Airbot_MMK2_storage_spoon_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (42 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", - "splits": { - "train": "0:53" + "fps": 30 }, - "features": { - "observation.images.cam_head_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_left_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.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" - } + "dataset_uuid": "adde8f5b-b32a-49e8-b684-9f89a37ec8e4", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the rabbit doll into the plate with the left gripper", + "Grasp the rabbit doll with the left gripper", + "End", + "Static", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } ] }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_plate_storage_rabbit_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.cam_high_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_plate_storage_rabbit_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.cam_high_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_tray_storage_lemon_a": { - "path": "G1edu-u3_tray_storage_lemon_a", - "dataset_name": "tray_storage_lemon_a", + "RMC-AIDA-L_box_up_down": { + "path": "RMC-AIDA-L_box_up_down", + "dataset_name": "box_up_down", "robot_type": "", "end_effector_type": [ - "three_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ + "grasp", "pick", "place" ], - "tasks": "Place the lemon on the blue plate with left gripper", + "tasks": "Grasp the bandage with right gripper", "objects": [ { "object_name": "table", @@ -19114,35 +15435,27 @@ "level5": null }, { - "object_name": "tray", + "object_name": "box", "level1": "container", - "level2": "tray", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lemon", - "level1": "fruits", - "level2": "lemon", + "level2": "box", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-2298", - "dataset_size": "27.2MB", + "operation_platform_height": 77.2, + "frame_range": "0-31466", + "dataset_size": "383.7MB", "statistics": { - "total_episodes": 13, - "total_frames": 2298, - "total_tasks": 1, - "total_videos": 13, + "total_episodes": 159, + "total_frames": 31466, + "total_tasks": 2, + "total_videos": 477, "total_chunks": 1, - "chunks_size": 13, + "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "50af80c8-eb74-4dec-9689-8bea0af5a8c2", + "dataset_uuid": "e095217a-10c3-44e6-9a26-08a1758a1243", "language": [ "en", "zh" @@ -19151,9 +15464,17 @@ "robotics" ], "sub_tasks": [ - "Place the lemon on the blue plate with left gripper", - "Place the lemon on the blue plate with right gripper", + "Grasp the bandage with right gripper", + "Loosen the box on the table with right gripper", + "Place the box on the table with right gripper", + "Lift the box with left gripper", + "Place the box on the table with left gripper", + "Static", "End", + "Loosen the box on the table with left gripper", + "Lift the box with right gripper", + "Grasp the bandage with left gripper", + "Abnormal", "null" ], "annotations": { @@ -19191,338 +15512,643 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_box_up_down_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "agilex_cobot_magic_pass_object_right_to_left_black_tablecloth": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" + "RMC-AIDA-L_get_water": { + "path": "RMC-AIDA-L_get_water", + "dataset_name": "get_water", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "hold", + "push" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "agilex_cobot_magic_pass_object_right_to_left_black_tablecloth", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "commercial_convenience", - "level2": "supermarket", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "tasks": "Move the cup beneath the water dispenser nozzle with the right gripper", "objects": [ { "object_name": "table", - "level1": "home_storage", + "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "ambrosial_yogurt", - "level1": "food", - "level2": "ambrosial_yogurt", + "object_name": "faucet", + "level1": "tool", + "level2": "faucet", "level3": null, "level4": null, "level5": null }, { - "object_name": "banana", - "level1": "food", - "level2": "banana", + "object_name": "cup", + "level1": "container", + "level2": "cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", + "object_name": "water", + "level1": "drink", + "level2": "water", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-327536", + "dataset_size": "2.8GB", + "statistics": { + "total_episodes": 333, + "total_frames": 327536, + "total_tasks": 3, + "total_videos": 999, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "2a2cc6a7-ac07-494e-9b05-0a437532bdb1", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Move the cup beneath the water dispenser nozzle with the right gripper", + "Close the dispenser valve with the right gripper", + "Open the dispenser valve and fill the cup with water with the right gripper", + "Close the dispenser valve with the left gripper", + "Open the dispenser valve and fill the cup with water with the left gripper", + "end", + "Move the cup beneath the water dispenser nozzle with the left gripper", + "abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_get_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_get_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_hotel_services_ab": { + "path": "leju_robot_hotel_services_ab", + "dataset_name": "hotel_services_ab", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "End", + "objects": [ { - "object_name": "milk", - "level1": "food", - "level2": "milk", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "yogurt", - "level1": "food", - "level2": "yogurt", + "object_name": "box", + "level1": "home_storage", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "grape", - "level1": "food", - "level2": "grape", + "object_name": "card", + "level1": "nfc", + "level2": "card", "level3": null, "level4": null, "level5": null }, { - "object_name": "ham_sausage", - "level1": "food", - "level2": "ham_sausage", + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": null, + "frame_range": "0-81123", + "dataset_size": "5.2GB", + "statistics": { + "total_episodes": 450, + "total_frames": 81123, + "total_tasks": 1, + "total_videos": 1350, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "e7a6fa76-d4ee-4f1a-b951-26d50fb71f0d", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Take out the room card with right gripper", + "Hand the room card to the guest with right gripper", + "Hand the room card to the target.", + "Pick up the room card from the card holder.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_hotel_services_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_cup_storage": { + "path": "AIRBOT_MMK2_cup_storage", + "dataset_name": "cup_storage", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the blue cup on the plate with the left gripper", + "objects": [ { - "object_name": "eggplant", - "level1": "food", - "level2": "eggplant", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "chewing_gum", - "level1": "food", - "level2": "chewing_gum", + "object_name": "cup", + "level1": "container", + "level2": "cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "eyeglass_case", - "level1": "laboratory_supplies", - "level2": "eyeglass_case", + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-12246", + "dataset_size": "522.9MB", + "statistics": { + "total_episodes": 48, + "total_frames": 12246, + "total_tasks": 1, + "total_videos": 192, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "4f813d8b-217d-4c36-9698-e2c22c0696ae", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the blue cup on the plate with the left gripper", + "Place the purple cup on the blue cup with the right gripper", + "Abnormal", + "End", + "Grasp the purple cup with the right gripper", + "Grasp the blue cup with the left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_cup_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_cup_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_twist_bottle_cap": { + "path": "Cobot_Magic_twist_bottle_cap", + "dataset_name": "twist_bottle_cap", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "twist" + ], + "tasks": "Place the Yili Changqing with the left hand", + "objects": [ { - "object_name": "rubik's_cube", - "level1": "toys", - "level2": "rubik's_cube", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "purple_trash_bag", - "level1": "trash", - "level2": "purple_trash_bag", + "object_name": "bottle", + "level1": "container", + "level2": "bottle", "level3": null, "level4": null, "level5": null }, { - "object_name": "cleanser", - "level1": "daily_necessities", - "level2": "cleanser", + "object_name": "master_kong_oolong_tea", + "level1": "drink", + "level2": "master_kong_oolong_tea", "level3": null, "level4": null, "level5": null }, { - "object_name": "bathing_in_flowers", - "level1": "daily_necessities", - "level2": "bathing_in_flowers", + "object_name": "green_tea", + "level1": "drink", + "level2": "green_tea", "level3": null, "level4": null, "level5": null }, { - "object_name": "whiteboard_eraser", - "level1": "stationery", - "level2": "whiteboard_eraser", + "object_name": "meinianda", + "level1": "drink", + "level2": "meinianda", "level3": null, "level4": null, "level5": null }, { - "object_name": "candle", - "level1": "daily_necessities", - "level2": "candle", + "object_name": "yili_changqing", + "level1": "drink", + "level2": "yili_changqing", "level3": null, "level4": null, "level5": null }, { - "object_name": "black_table_cloths", - "level1": "laboratory_supplies", - "level2": "black_table_cloths", + "object_name": "cestbon", + "level1": "drink", + "level2": "cestbon", "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." + "operation_platform_height": 77.2, + "frame_range": "0-749388", + "dataset_size": "8.7GB", + "statistics": { + "total_episodes": 863, + "total_frames": 749388, + "total_tasks": 9, + "total_videos": 2589, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "c084dcfc-e7a8-4e35-a194-0325296dcd6e", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" ], "sub_tasks": [ + "Place the Yili Changqing with the left hand", + "Lift the Peach Oolong Tea with the left hand", + "Place the bottle cap on the table with the right hand", + "Move the Peach Oolong Tea from right to left", + "Move from left to right", + "Move the Peach Oolong Tea from left to right", + "Secure the C'estbon with the left hand", + "Move the Mirinda to the right with the left hand", + "Place the bottle on the table with the left gripper", + "Grasp the bottle and move it to the center of the table with the left gripper", + "Move the Mirinda from left to right", + "Move the Mirinda from top to bottom", + "Discard", + "Place the bottle cap on the table", + "End", + "Place the C'estbon with the left hand", + "Move the Mirinda from right to left", + "Move the green tea to the right with the left hand", + "Lift the bottle and move it to the center of the table with the left gripper", + "Grab the green tea with the left hand", + "Secure the Peach Oolong Tea with the left hand", + "Place the Mirinda with the left hand", + "Fix the Yili Changqing on the left", + "Secure the green tea with the left hand", + "Secure the Yili Changqing with the left hand", + "Move the Yili Changqing from left to right", + "Abnormal", + "Place the bottle cap on the right", + "Place the green tea with the left hand", + "Move the Yili Changqing to the right with the left hand", + "Lift the green tea with the left hand", + "Grab the C'estbon with the left hand", + "Move from right to left", + "Unscrew the bottle cap with the right gripper while holding the bottle with the left gripper", + "Secure the Mirinda with the left hand", + "Grab the Yili Changqing with the left hand", + "Lift the Yili Changqing with the left hand", + "Move the C'estbon to the right with the left hand", + "Place the Peach Oolong Tea with the left hand", + "Move the Yili Changqing from right to left", + "Fix the Mirinda on the left", + "Move the Yili Changqing from bottom to top", + "Grab the Peach Oolong Tea with the left hand", + "Move the Peach Oolong Tea to the right with the left hand", + "Move the Yili Changqing from top to bottom", + "Grab the Mirinda with the left hand", + "Twist the bottle cap with the right hand", + "Lift the Mirinda with the left hand", + "Place the bottle cap on the table with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_twist_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_twist_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Agilex_Cobot_Magic_storage_orange_white_bag": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ { - "subtask": "The left gripper places milk on the left side of the table", - "subtask_index": 0 - }, - { - "subtask": "The left gripper places bread on the left side of the table", - "subtask_index": 1 - }, - { - "subtask": "Pass the bread to the left gripper", - "subtask_index": 2 - }, - { - "subtask": "Pass the shower sphere to the left gripper", - "subtask_index": 3 - }, - { - "subtask": "Use the right gripper to grab the bread on the right side of the table", - "subtask_index": 4 - }, - { - "subtask": "Use the right gripper to grab the grape on the right side of the table", - "subtask_index": 5 - }, - { - "subtask": "End", - "subtask_index": 6 - }, - { - "subtask": "Use the right gripper to grab the banana on the right side of the table", - "subtask_index": 7 - }, - { - "subtask": "Pass the purple garbage bag to the left gripper", - "subtask_index": 8 - }, - { - "subtask": "Pass the Rubik's Cube to the left gripper", - "subtask_index": 9 - }, - { - "subtask": "The left gripper places yogurt on the left side of the table", - "subtask_index": 10 - }, - { - "subtask": "The left gripper places shower sphere on the left side of the table", - "subtask_index": 11 - }, - { - "subtask": "Use the right gripper to grab the shower sphere on the right side of the table", - "subtask_index": 12 - }, - { - "subtask": "Use the right gripper to grab the grapes on the right side of the table", - "subtask_index": 13 - }, - { - "subtask": "Pass the yogurt to the left gripper", - "subtask_index": 14 - }, - { - "subtask": "The left gripper places grape on the left side of the table", - "subtask_index": 15 - }, - { - "subtask": "The left gripper places grapes on the left side of the table", - "subtask_index": 16 - }, - { - "subtask": "Use the right gripper to grab the milk on the right side of the table", - "subtask_index": 17 - }, - { - "subtask": "Pass the milk to the left gripper", - "subtask_index": 18 - }, - { - "subtask": "The left gripper places banana on the left side of the table", - "subtask_index": 19 - }, - { - "subtask": "Use the right gripper to grab the eyeglass case on the right side of the table", - "subtask_index": 20 + "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_white_bag", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "living_room", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ { - "subtask": "Pass the banana to the left gripper", - "subtask_index": 21 + "object_name": "table", + "level1": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Pass the grapes to the left gripper", - "subtask_index": 22 + "object_name": "brown_basket", + "level1": "home_storage", + "level2": "brown_basket", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Use the right gripper to grab the purple garbage bag on the right side of the table", - "subtask_index": 23 - }, + "object_name": "white_canvas_bags", + "level1": "daily_necessities", + "level2": "white_canvas_bags", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "open the white linen bag and put the orange in the bag." + ], + "sub_tasks": [ { - "subtask": "Pass the grape to the left gripper", - "subtask_index": 24 + "subtask": "Grasp the orange with right gripper", + "subtask_index": 0 }, { - "subtask": "The left gripper places eyeglass case on the left side of the table", - "subtask_index": 25 + "subtask": "Grasp the orange with left gripper", + "subtask_index": 1 }, { - "subtask": "Pass the eyeglass case to the left gripper", - "subtask_index": 26 + "subtask": "End", + "subtask_index": 2 }, { - "subtask": "Use the right gripper to grab the yogurt on the right side of the table", - "subtask_index": 27 + "subtask": "Lift the handbag with left gripper", + "subtask_index": 3 }, { - "subtask": "Use the right gripper to grab the Rubik's Cube on the right side of the table", - "subtask_index": 28 + "subtask": "Place the orange in the handbag with right gripper", + "subtask_index": 4 }, { - "subtask": "\nPass the milk to the left gripper\n", - "subtask_index": 29 + "subtask": "Place the orange in the basket with right gripper", + "subtask_index": 5 }, { - "subtask": "The left gripper places purple garbage bag on the left side of the table", - "subtask_index": 30 + "subtask": "Put down the handbag with left gripper", + "subtask_index": 6 }, { "subtask": "null", - "subtask_index": 31 + "subtask_index": 7 } ], "atomic_actions": [ "grasp", "lift", - "lower", - "handover", - "takeover" + "lower" ], "robot_name": [ - "agilex_cobot_magic" + "Agilex_Cobot_Magic" ], "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", @@ -19551,23 +16177,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 93, - "total_frames": 59541, + "total_episodes": 100, + "total_frames": 43104, "fps": 30, - "total_tasks": 32, - "total_videos": 279, + "total_tasks": 8, + "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "state_dim": 26, "action_dim": 26, "camera_views": 3, - "dataset_size": "1.15 GB" + "dataset_size": "406.02 MB" }, - "frame_num": 59541, - "dataset_size": "1.15 GB", - "data_structure": "Agilex_Cobot_Magic_pass_object_right_to_left_black_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (81 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 43104, + "dataset_size": "406.02 MB", + "data_structure": "Agilex_Cobot_Magic_storage_orange_white_bag_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:92" + "train": "0:99" }, "features": { "observation.images.cam_head_rgb": { @@ -19938,105 +16564,7 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_clean_the_desktop": { - "path": "AIRBOT_MMK2_clean_the_desktop", - "dataset_name": "clean_the_desktop", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "calculator_box", - "level1": "tools", - "level2": "umbrella", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-8709", - "dataset_size": "327.5MB", - "statistics": { - "total_episodes": 49, - "total_frames": 8709, - "total_tasks": 1, - "total_videos": 196, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "05f361bc-b167-4623-b38b-a9371aa7d999", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Grasp the tissue with the right gripper", - "Place the umbrella on the white lid with the left gripper", - "Place the tissue on the white lid with the right gripper", - "Grasp the umbrella with the left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_storage_bottle_part": { + "Agilex_Cobot_Magic_classify_objects_eight": { "task_categories": [ "robotics" ], @@ -20066,11 +16594,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_bottle_part", + "dataset_name": "Agilex_Cobot_Magic_classify_objects_eight", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "commercial_convenience", - "level2": "supermarket", + "level1": "household", + "level2": "kitchen", "level3": null, "level4": null, "level5": null @@ -20078,25 +16606,153 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "water_bottle", - "level1": "beverages", - "level2": "water_bottle", + "object_name": "table", + "level1": "home_storage", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "handle", - "level1": "laboratory_supplies", - "level2": "handle", + "object_name": "brown_basket", + "level1": "home_storage", + "level2": "brown_basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "carton", - "level1": "laboratory_supplies", - "level2": "carton", + "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 + }, + { + "object_name": "lemon", + "level1": "food", + "level2": "lemon", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "apple", + "level1": "food", + "level2": "apple", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mango", + "level1": "food", + "level2": "mango", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "kiwi_fruit", + "level1": "food", + "level2": "kiwi_fruit", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mangosteen", + "level1": "food", + "level2": "mangosteen", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pear", + "level1": "food", + "level2": "pear", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "avocado", + "level1": "food", + "level2": "avocado", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brown_clear_plastic_cup", + "level1": "kitchen_supplies", + "level2": "brown_clear_plastic_cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "shampoo", + "level1": "daily_necessities", + "level2": "shampoo", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "deli Water-based_Marker", + "level1": "stationery", + "level2": "deli_Water-based_Marker", "level3": null, "level4": null, "level5": null @@ -20104,80 +16760,418 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "put the water bottle and handle into the cardboard box." + "Place multiple objects separately in different baskets." ], "sub_tasks": [ { - "subtask": "Grasp the water bottle with the right gripper", + "subtask": "Place the pear in the light basket with right gripper", "subtask_index": 0 }, { - "subtask": "Place the water bottle into the cardboard box with the right gripper", + "subtask": "Pick up the shampoo with left gripper", "subtask_index": 1 }, { - "subtask": "Lift the water bottle with the right gripper", + "subtask": "Place the pink marker pen in the dark basket with right gripper", "subtask_index": 2 }, { - "subtask": "Lift the remote control clip with the left gripper ", + "subtask": "Pick up the pear with left gripper", "subtask_index": 3 }, { - "subtask": "Abnormal", + "subtask": "Place the lime in the light basket with right gripper", "subtask_index": 4 }, { - "subtask": "Static", + "subtask": "Place the laundry detergent in the dark basket with right gripper", "subtask_index": 5 }, { - "subtask": "Place the remote control clip into the cardboard box with the left gripper", + "subtask": "Place the mango in the light basket with right gripper", "subtask_index": 6 }, { - "subtask": "End", + "subtask": "Pick up the light brown cup with left gripper", "subtask_index": 7 }, { - "subtask": "Grasp the remote control clip with the left gripper ", + "subtask": "Place the orange in the light basket with right gripper", "subtask_index": 8 }, { - "subtask": "null", + "subtask": "Pick up the dark brown cup with left gripper", "subtask_index": 9 - } - ], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "robot_name": [ - "Airbot_MMK2" - ], - "end_effector_type": "five_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" - ], - "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" - }, - "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", - "annotations": [ - "eef_acc_mag_annotation.jsonl", - "eef_direction_annotation.jsonl", + }, + { + "subtask": "Place the dark brown cup in the dark basket with left gripper", + "subtask_index": 10 + }, + { + "subtask": "Pick up the light brown cup with right gripper", + "subtask_index": 11 + }, + { + "subtask": "Pick up pink marker pen with right gripper", + "subtask_index": 12 + }, + { + "subtask": "Pick up the lime with left gripper", + "subtask_index": 13 + }, + { + "subtask": "Pick up kiwi with left gripper", + "subtask_index": 14 + }, + { + "subtask": "Pick up mango with left gripper", + "subtask_index": 15 + }, + { + "subtask": "Place the shampoo in the dark basket with right gripper", + "subtask_index": 16 + }, + { + "subtask": "Place the dark brown cup in the dark basket with right gripper", + "subtask_index": 17 + }, + { + "subtask": "Pick up the pomegranate with right gripper", + "subtask_index": 18 + }, + { + "subtask": "Pick up the pear with right gripper", + "subtask_index": 19 + }, + { + "subtask": "Pick up the dark brown cup with right gripper", + "subtask_index": 20 + }, + { + "subtask": "Pick up the red cup with right gripper", + "subtask_index": 21 + }, + { + "subtask": "Place the pomegranate in the light basket with left gripper", + "subtask_index": 22 + }, + { + "subtask": "Pick up the avocado with right gripper", + "subtask_index": 23 + }, + { + "subtask": "Pick up the hard facial cleanser with left gripper", + "subtask_index": 24 + }, + { + "subtask": "Place the Incense box in the dark basket with left gripper", + "subtask_index": 25 + }, + { + "subtask": "Pick up the shampoo with right gripper", + "subtask_index": 26 + }, + { + "subtask": "Place the banana in the light basket with right gripper", + "subtask_index": 27 + }, + { + "subtask": "Place the laundry detergent in the dark basket with left gripper", + "subtask_index": 28 + }, + { + "subtask": "Pick up the orange with right gripper", + "subtask_index": 29 + }, + { + "subtask": "Place the mangosteen in the light basket with right gripper", + "subtask_index": 30 + }, + { + "subtask": "Place the hard facial cleanser in the dark basket with right gripper", + "subtask_index": 31 + }, + { + "subtask": "Pick up Incense box with right gripper", + "subtask_index": 32 + }, + { + "subtask": "Place the red marker in the dark basket with right gripper", + "subtask_index": 33 + }, + { + "subtask": "Pick up the lemon with left gripper", + "subtask_index": 34 + }, + { + "subtask": "Place the banana in the light basket with left gripper", + "subtask_index": 35 + }, + { + "subtask": "Pick up Incense box with left gripper", + "subtask_index": 36 + }, + { + "subtask": "Pick up kiwi with right gripper", + "subtask_index": 37 + }, + { + "subtask": "Pick up the mango with right gripper", + "subtask_index": 38 + }, + { + "subtask": "Place the lemon in the light basket with left gripper", + "subtask_index": 39 + }, + { + "subtask": "Pick up the laundry detergent with left gripper", + "subtask_index": 40 + }, + { + "subtask": "Pick up toothpaste with right gripper", + "subtask_index": 41 + }, + { + "subtask": "Pick up the bread with right gripper", + "subtask_index": 42 + }, + { + "subtask": "Pick up toothpaste with left gripper", + "subtask_index": 43 + }, + { + "subtask": "Place the red cup in the dark basket with left gripper", + "subtask_index": 44 + }, + { + "subtask": "Place the red cup in the dark basket with right gripper", + "subtask_index": 45 + }, + { + "subtask": "Place the lemon in the light basket with right gripper", + "subtask_index": 46 + }, + { + "subtask": "Pick up banana with left gripper", + "subtask_index": 47 + }, + { + "subtask": "Place the avocado in the light basket with right gripper", + "subtask_index": 48 + }, + { + "subtask": "Pick up egg yolk pastry with left gripper", + "subtask_index": 49 + }, + { + "subtask": "Place the light brown cup in the dark basket with left gripper", + "subtask_index": 50 + }, + { + "subtask": "Pick up egg yolk pastry with right gripper", + "subtask_index": 51 + }, + { + "subtask": "Place the orange in the light basket with left gripper", + "subtask_index": 52 + }, + { + "subtask": "Place the hard facial cleanser in the dark basket with left gripper", + "subtask_index": 53 + }, + { + "subtask": "Pick up the lemon with right gripper", + "subtask_index": 54 + }, + { + "subtask": "Place the kiwi in the light basket with right gripper", + "subtask_index": 55 + }, + { + "subtask": "End", + "subtask_index": 56 + }, + { + "subtask": "Pick up gray cup with left gripper", + "subtask_index": 57 + }, + { + "subtask": "Place the pomegranate in the light basket with right gripper", + "subtask_index": 58 + }, + { + "subtask": "Pick up banana with right gripper", + "subtask_index": 59 + }, + { + "subtask": "Place the blackboard eraser in the dark basket with left gripper", + "subtask_index": 60 + }, + { + "subtask": "Pick up the red marker with right gripper", + "subtask_index": 61 + }, + { + "subtask": "Place the red marker in the dark basket with left gripper", + "subtask_index": 62 + }, + { + "subtask": "Place the gray cup in the dark basket with left gripper", + "subtask_index": 63 + }, + { + "subtask": "Pick up the red cup with left gripper", + "subtask_index": 64 + }, + { + "subtask": "Place the kiwi in the light basket with left gripper", + "subtask_index": 65 + }, + { + "subtask": "Pick up the mangosteen with left gripper", + "subtask_index": 66 + }, + { + "subtask": "Pick up the orange with left gripper", + "subtask_index": 67 + }, + { + "subtask": "Place the mangosteen in the light basket with left gripper", + "subtask_index": 68 + }, + { + "subtask": "Place the bread in the light basket with right gripper", + "subtask_index": 69 + }, + { + "subtask": "Place the toothpaste in the dark basket with right gripper", + "subtask_index": 70 + }, + { + "subtask": "Pick up the lime with right gripper", + "subtask_index": 71 + }, + { + "subtask": "Place the mango in the light basket with left gripper", + "subtask_index": 72 + }, + { + "subtask": "Pick up the mangosteen with right gripper", + "subtask_index": 73 + }, + { + "subtask": "Place the pink marker pen in the dark basket with left gripper", + "subtask_index": 74 + }, + { + "subtask": "Pick up the red marker with left gripper", + "subtask_index": 75 + }, + { + "subtask": "Place the pear in the light basket with left gripper", + "subtask_index": 76 + }, + { + "subtask": "Pick up blackboard eraser with right gripper", + "subtask_index": 77 + }, + { + "subtask": "Place the blackboard eraser in the dark basket with right gripper", + "subtask_index": 78 + }, + { + "subtask": "Place the shampoo in the dark basket with left gripper", + "subtask_index": 79 + }, + { + "subtask": "Place the egg yolk pastry in the light basket with left gripper", + "subtask_index": 80 + }, + { + "subtask": "Pick up the pomegranate with left gripper", + "subtask_index": 81 + }, + { + "subtask": "Place the toothpaste in the dark basket with left gripper", + "subtask_index": 82 + }, + { + "subtask": "Pick up blackboard eraser with left gripper", + "subtask_index": 83 + }, + { + "subtask": "Place the Incense box in the dark basket with right gripper", + "subtask_index": 84 + }, + { + "subtask": "Pick up the hard facial cleanser with right gripper", + "subtask_index": 85 + }, + { + "subtask": "Place the apple in the light basket with right gripper", + "subtask_index": 86 + }, + { + "subtask": "Place the avocado in the light basket with left gripper", + "subtask_index": 87 + }, + { + "subtask": "Pick up pink marker pen with left gripper", + "subtask_index": 88 + }, + { + "subtask": "Pick up the avocado with left gripper", + "subtask_index": 89 + }, + { + "subtask": "Pick up the laundry detergent with right gripper", + "subtask_index": 90 + }, + { + "subtask": "Place the egg yolk pastry in the light basket with right gripper", + "subtask_index": 91 + }, + { + "subtask": "Pick up the apple with right gripper", + "subtask_index": 92 + }, + { + "subtask": "Place the lime in the light basket with left gripper", + "subtask_index": 93 + }, + { + "subtask": "null", + "subtask_index": 94 + } + ], + "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", @@ -20185,23 +17179,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 49, - "total_frames": 10499, + "total_episodes": 197, + "total_frames": 337837, "fps": 30, - "total_tasks": 10, - "total_videos": 196, + "total_tasks": 95, + "total_videos": 591, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "508.16 MB" + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "4.51 GB" }, - "frame_num": 10499, - "dataset_size": "508.16 MB", - "data_structure": "Airbot_MMK2_storage_bottle_part_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 337837, + "dataset_size": "4.51 GB", + "data_structure": "Agilex_Cobot_Magic_classify_objects_eight_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (185 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:48" + "train": "0:196" }, "features": { "observation.images.cam_head_rgb": { @@ -20273,33 +17267,10 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, "observation.state": { "dtype": "float32", "shape": [ - 36 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -20308,42 +17279,32 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -20352,36 +17313,26 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "timestamp": { @@ -20421,17 +17372,17 @@ }, "subtask_annotation": { "names": null, + "dtype": "int32", "shape": [ 5 - ], - "dtype": "int32" + ] }, "scene_annotation": { "names": null, + "dtype": "int32", "shape": [ 1 - ], - "dtype": "int32" + ] }, "eef_sim_pose_state": { "names": [ @@ -20448,10 +17399,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_sim_pose_action": { "names": [ @@ -20468,70 +17419,130 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 + ] + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" ], - "dtype": "int32" + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] } }, "authors": { @@ -20553,833 +17564,189 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_mobile_calculator_box": { - "path": "AIRBOT_MMK2_mobile_calculator_box", - "dataset_name": "mobile_calculator_box", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" + "agilex_cobot_magic_pass_object_right_to_left_green_tablecloth": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" + "language": [ + "en" ], - "tasks": "Grasp the calculator case with left gripper", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "agilex_cobot_magic_pass_object_right_to_left_green_tablecloth", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "commercial_convenience", + "level2": "supermarket", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { "object_name": "table", - "level1": "furniture", + "level1": "home_storage", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "calculator_box", - "level1": "container", - "level2": "calculator_box", + "object_name": "ambrosial_yogurt", + "level1": "food", + "level2": "ambrosial_yogurt", "level3": null, "level4": null, "level5": null }, { - "object_name": "lid", - "level1": "container", - "level2": "lid", + "object_name": "banana", + "level1": "food", + "level2": "banana", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-34396", - "dataset_size": "1.1GB", - "statistics": { - "total_episodes": 150, - "total_frames": 34396, - "total_tasks": 2, - "total_videos": 600, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "7629d634-2d89-41ad-a722-364a319f374b", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the calculator case with left gripper", - "End", - "Place the calculator case in the center of table with right gripper", - "Place the white box in the center of table with right gripper", - "Pass the white box to right gripper", - "Grasp the yellow book with left gripper", - "Place the yellow book in the center of table with right gripper", - "Pass the yellow book to right gripper", - "Pass the calculator case to right gripper", - "Grasp the white box with left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_mobile_accessory_storage_box_d": { - "path": "AgiBot-g1_mobile_accessory_storage_box_d", - "dataset_name": "mobile_accessory_storage_box_d", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Grasp the mouse and data cable", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "container", - "level2": "box", + "object_name": "milk", + "level1": "food", + "level2": "milk", "level3": null, "level4": null, "level5": null }, { - "object_name": "accessories", - "level1": "electronic_products", - "level2": "accessories", + "object_name": "yogurt", + "level1": "food", + "level2": "yogurt", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-17860", - "dataset_size": "7.6GB", - "statistics": { - "total_episodes": 30, - "total_frames": 17860, - "total_tasks": 1, - "total_videos": 240, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "add3803d-befc-4ae5-8bc7-b6d81060cdcf", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the mouse and data cable", - "Place the mouse and data cable in the paper box", - "End", - "Place the mouse in the paper box", - "Grab and pick up the mouse and power cord from the accessory packaging area.", - "Abnormal", - "Place the mouse and power cord into the box.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "alpha_bot_2_pass_the_sandbag": { - "path": "alpha_bot_2_pass_the_sandbag", - "dataset_name": "pass_the_sandbag", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pass the paper ball to the right gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "grape", + "level1": "food", + "level2": "grape", "level3": null, "level4": null, "level5": null }, { - "object_name": "sandbag", - "level1": "toy", - "level2": "sandbag", + "object_name": "ham_sausage", + "level1": "food", + "level2": "ham_sausage", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-69956", - "dataset_size": "2.0GB", - "statistics": { - "total_episodes": 86, - "total_frames": 69956, - "total_tasks": 1, - "total_videos": 344, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "81e68aa6-8f11-4edf-9c00-cc322e4fc0c9", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pass the paper ball to the right gripper", - "End", - "Place the paper ball on the table with right gripper", - "Grasp the paper ball with left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "alpha_bot_2_pass_the_sandbag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "alpha_bot_2_pass_the_sandbag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_box_storage_parcel": { - "path": "leju_robot_box_storage_parcel", - "dataset_name": "box_storage_parcel", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Grasp the package on the scanner with left gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "eggplant", + "level1": "food", + "level2": "eggplant", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "chewing_gum", + "level1": "food", + "level2": "chewing_gum", "level3": null, "level4": null, "level5": null }, { - "object_name": "parcel", - "level1": "container", - "level2": "parcel", + "object_name": "eyeglass_case", + "level1": "laboratory_supplies", + "level2": "eyeglass_case", "level3": null, "level4": null, "level5": null }, { - "object_name": "conveyor_belt", - "level1": "industrial_equipment", - "level2": "conveyor_belt", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-537851", - "dataset_size": "27.2GB", - "statistics": { - "total_episodes": 443, - "total_frames": 537851, - "total_tasks": 1, - "total_videos": 1329, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "b6a8ebae-9a8f-44c4-a7a1-7893c558480b", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the package on the scanner with left gripper", - "Abnormal", - "Put the parcel inside the courier box.", - "Place the parcel onto the inbound machine.", - "Place the parcel into the delivery box.", - "Grasp the package on the conveyor belt with right gripper", - "Place the package in the green box with left gripper", - "End", - "Pick up the parcel from the conveyor belt.", - "Take the parcel off the conveyor belt.", - "Place the package on the scanner with right gripper", - "Pick up the parcel from the inbound machine.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_moving_parts_s": { - "path": "leju_robot_moving_parts_s", - "dataset_name": "moving_parts_s", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Return to the initial position at the shelf", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-776972", - "dataset_size": "53.8GB", - "statistics": { - "total_episodes": 495, - "total_frames": 776972, - "total_tasks": 1, - "total_videos": 1485, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "4f3b96f0-482a-45ca-9176-d8cdf62101c7", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Return to the initial position at the shelf", - "Grasp the black part with right gripper", - "End", - "Abnormal", - "Pick up the large material from the shelf", - "Place the black part on the table with right gripper", - "Move to the table behind body", - "Move the large material to the workbench", - "Insert the large material into the corresponding slot on the workbench", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_clean_the_desktop_a": { - "path": "AIRBOT_MMK2_clean_the_desktop_a", - "dataset_name": "clean_the_desktop_a", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the calculator case in the center of table with right gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "calculator_box", - "level1": "tools", - "level2": "umbrella", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-9819", - "dataset_size": "338.3MB", - "statistics": { - "total_episodes": 50, - "total_frames": 9819, - "total_tasks": 1, - "total_videos": 200, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "05f361bc-b167-4623-b38b-a9371aa7d998", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the calculator case in the center of table with right gripper", - "Grasp the calculator case with left gripper", - "Pass the calculator case to right gripper", - "End", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } - ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "commercial_convenience", - "level2": "supermarket", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", - "objects": [ - { - "object_name": "table", - "level1": "home_storage", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "ambrosial_yogurt", - "level1": "food", - "level2": "ambrosial_yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "food", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "milk", - "level1": "food", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yogurt", - "level1": "food", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "grape", - "level1": "food", - "level2": "grape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "ham_sausage", - "level1": "food", - "level2": "ham_sausage", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eggplant", - "level1": "food", - "level2": "eggplant", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chewing_gum", - "level1": "food", - "level2": "chewing_gum", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eyeglass_case", - "level1": "laboratory_supplies", - "level2": "eyeglass_case", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rubik's_cube", - "level1": "toys", - "level2": "rubik's_cube", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "purple_trash_bag", - "level1": "trash", - "level2": "purple_trash_bag", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cleanser", - "level1": "daily_necessities", - "level2": "cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bathing_in_flowers", - "level1": "daily_necessities", - "level2": "bathing_in_flowers", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "whiteboard_eraser", - "level1": "stationery", - "level2": "whiteboard_eraser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "candle", - "level1": "daily_necessities", - "level2": "candle", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "khaki_table_cloths", - "level1": "laboratory_supplies", - "level2": "khaki_table_cloths", + "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": "green_table_cloths", + "level1": "laboratory_supplies", + "level2": "green_table_cloths", "level3": null, "level4": null, "level5": null @@ -21387,176 +17754,220 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "use the left gripper to pick up the item and transfer it from the left gripper to the right gripper." + "use the right gripper to pick up the item and transfer it from the right gripper to the left gripper." ], "sub_tasks": [ { - "subtask": "Pass the purple garbage bag to the right gripper", + "subtask": "The left gripper places milk on the left side of the table", "subtask_index": 0 }, { - "subtask": "Pass the shower sphere to the right gripper", + "subtask": "The left gripper places bread on the left side of the table", "subtask_index": 1 }, { - "subtask": "Place the milk on the table with the right gripper", + "subtask": "Use the right gripper to grab the shampoo on the right side of the table", "subtask_index": 2 }, { - "subtask": "Place the XX on the table with the right gripper", + "subtask": "Use the right to grab the bread on the right side of table", "subtask_index": 3 }, { - "subtask": "Pass the yogurt to the right gripper", + "subtask": "Pass the bread to the left gripper", "subtask_index": 4 }, { - "subtask": "End", + "subtask": "Use the right gripper to grab the bread on the right side of the table", "subtask_index": 5 }, { - "subtask": "Pass the milk to the right gripper", + "subtask": "The left gripper places grape on the left side of the table\n", "subtask_index": 6 }, { - "subtask": "Place the purple garbage bag on the table with the right gripper", + "subtask": "End", "subtask_index": 7 }, { - "subtask": "Place the Rubik's Cube on the table with the right gripper", + "subtask": "The left gripper places bread on the left side of the table\n", "subtask_index": 8 }, { - "subtask": "Grasp the blue blackboard erasure with the left gripper", + "subtask": "Pass the eggplant to the left gripper", "subtask_index": 9 }, { - "subtask": "Grasp the shower sphere with the left gripper", + "subtask": "The left gripper places yogurt on the left side of the table", "subtask_index": 10 }, { - "subtask": "Grasp the plush banana with the left gripper", + "subtask": "Pass the purple garbage bag to the left gripper", "subtask_index": 11 }, { - "subtask": "Grasp the yogurt with the left gripper", + "subtask": "Use the right gripper to grab the xbreadon the right side of the table\n", "subtask_index": 12 }, { - "subtask": "Grasp the milk with the left gripper\n", + "subtask": "The left gripper places yogurt on the left side of the table", "subtask_index": 13 }, { - "subtask": "Pass the plush banana to the right gripper", + "subtask": "Pass the Rubik's Cube to the left gripper", "subtask_index": 14 }, { - "subtask": "Place the blue blackboard erasure on the table with the right gripper", + "subtask": "Use the right gripper to grab the grape on the right side of the table\n", "subtask_index": 15 }, { - "subtask": "Abnormal", + "subtask": "Use the right gripper to grab the grape on the right side of the table", "subtask_index": 16 }, { - "subtask": "Grasp the XX with the left gripper", + "subtask": "Pass the yogurt to the left gripper", "subtask_index": 17 }, { - "subtask": "Grasp the blue blackboard erasure with the left grippe", + "subtask": "Pass the bread to the left gripper\n", "subtask_index": 18 }, { - "subtask": "Pass the Rubik's Cube to the right gripper", + "subtask": "Use the right gripper to grab the yogurt on the right side of the table\n", "subtask_index": 19 }, { - "subtask": "Place the milk on the table with the right gripper\n", + "subtask": "Pass the grape to the left grippe", "subtask_index": 20 }, { - "subtask": "Pass the long bread to the right gripper\n", + "subtask": "Use the right gripper to grab the milk on the right side of the table\n", "subtask_index": 21 }, { - "subtask": "\nPass the milk to the right gripper", + "subtask": "The left gripper places shampoo on the left side of the table", "subtask_index": 22 }, { - "subtask": "Pass the long bread to the right gripper", + "subtask": "The left gripper places grape on the left side of the table", "subtask_index": 23 }, { - "subtask": "Grasp the milk with the left gripper", + "subtask": "The left gripper places eggplant on the left side of the table", "subtask_index": 24 }, { - "subtask": "Pass the blue blackboard erasure to the right gripper", + "subtask": "Use the right gripper to grab the milk on the right side of the table", "subtask_index": 25 }, { - "subtask": "Place the long bread on the table with the right gripper", + "subtask": "Pass the milk to the left gripper", "subtask_index": 26 }, { - "subtask": "Grasp the long bread with the left gripper", + "subtask": "The left gripper places banana on the left side of the table", "subtask_index": 27 }, { - "subtask": "Grasp the Rubik's Cube with the left gripper", + "subtask": "The left gripper places milk on the left side of the table", "subtask_index": 28 }, { - "subtask": "Place the yogurt on the table with the right gripper", + "subtask": "The left gripper places xx on the left side of the table", "subtask_index": 29 }, { - "subtask": "Place the plush banana on the table with the right gripper", + "subtask": "Pass the shampoo to the left gripper", "subtask_index": 30 }, { - "subtask": "Pass the milk to the right gripper\n", + "subtask": "\nPass the bread to the left gripper\n", "subtask_index": 31 }, { - "subtask": "Place the grape on the table with the right gripper", + "subtask": "Use the right gripper to grab the bread on the right side of the table\n", "subtask_index": 32 }, { - "subtask": "Grasp the long bread with the left gripper\n", + "subtask": "The left gripper places purple garbage bag on the left side of the table", "subtask_index": 33 }, { - "subtask": "Pass the milk to the right gripper", + "subtask": "Use the right gripper to grab the xx on the right side of the table", "subtask_index": 34 }, { - "subtask": "Pass the grape to the right gripper", + "subtask": "Pass the milk to the left gripper\n", "subtask_index": 35 }, { - "subtask": "Pass the blue garbage bag to the right gripper", + "subtask": "Pass the banana to the left gripper", "subtask_index": 36 }, { - "subtask": "Pass the xx to the right gripper", + "subtask": "Pass the shampoo to the left gripper\n", "subtask_index": 37 }, { - "subtask": "Grasp the grape with the left gripper", + "subtask": "The left gripper places Rubik's Cube on the left side of the table", "subtask_index": 38 }, { - "subtask": "Grasp the purple garbage bag with the left gripper", + "subtask": "Use the right gripper to grab the purple garbage bag on the right side of the table", "subtask_index": 39 }, { - "subtask": "Place the shower sphere on the table with the right gripper", + "subtask": "\nPass the yogurt to the left gripper", "subtask_index": 40 }, { - "subtask": "null", + "subtask": "\nPass the bread to the left gripper", "subtask_index": 41 + }, + { + "subtask": "Use the right gripper to shampoo the on the right side of the table", + "subtask_index": 42 + }, + { + "subtask": "User the right gripper to grab the grape on the right side of the table\n", + "subtask_index": 43 + }, + { + "subtask": "The left gripper places milk on the left side of the table\n", + "subtask_index": 44 + }, + { + "subtask": "Use the right gripper to grab the yogurt on the right side of the table", + "subtask_index": 45 + }, + { + "subtask": "The left gripper places yogurt on the left side of the table\n", + "subtask_index": 46 + }, + { + "subtask": "Use the right gripper to grab the shampoo on the right side of the table", + "subtask_index": 47 + }, + { + "subtask": "Use the right gripper to grab the Rubik's Cube on the right side of the table", + "subtask_index": 48 + }, + { + "subtask": "\nPass the milk to the left gripper\n", + "subtask_index": 49 + }, + { + "subtask": "Pass the grape to the left gripper", + "subtask_index": 50 + }, + { + "subtask": "Pass the grape to the left gripper\n", + "subtask_index": 51 + }, + { + "subtask": "null", + "subtask_index": 52 } ], "atomic_actions": [ @@ -21596,23 +18007,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 97, - "total_frames": 53653, + "total_episodes": 98, + "total_frames": 69065, "fps": 30, - "total_tasks": 42, - "total_videos": 291, + "total_tasks": 53, + "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, "state_dim": 26, "action_dim": 26, "camera_views": 3, - "dataset_size": "636.04 MB" + "dataset_size": "884.48 MB" }, - "frame_num": 53653, - "dataset_size": "636.04 MB", - "data_structure": "Agilex_Cobot_Magic_pass_object_left_to_right_khaki_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (85 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 69065, + "dataset_size": "884.48 MB", + "data_structure": "Agilex_Cobot_Magic_pass_object_right_to_left_green_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (86 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:96" + "train": "0:97" }, "features": { "observation.images.cam_head_rgb": { @@ -21983,20 +18394,20 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_store_beauty_blender_and_building_blocks": { - "path": "AIRBOT_MMK2_store_beauty_blender_and_building_blocks", - "dataset_name": "store_beauty_blender_and_building_blocks", + "alpha_bot_2_sticker": { + "path": "alpha_bot_2_sticker", + "dataset_name": "sticker", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "Grasp the green cuboid block with the right gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -22007,43 +18418,27 @@ "level5": null }, { - "object_name": "marble", - "level1": "toy", - "level2": "marble", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "building_blocks", + "object_name": "poster", "level1": "toy", - "level2": "building_blocks", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "level2": "poster", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-9178", - "dataset_size": "300.5MB", + "operation_platform_height": null, + "frame_range": "0-97993", + "dataset_size": "1.9GB", "statistics": { - "total_episodes": 50, - "total_frames": 9178, + "total_episodes": 93, + "total_frames": 97993, "total_tasks": 1, - "total_videos": 200, + "total_videos": 372, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "fee911a7-d998-45da-b549-b1621ca063be", + "dataset_uuid": "81aee7b0-84c3-4b85-9778-c5c9df188afd", "language": [ "en", "zh" @@ -22052,12 +18447,8 @@ "robotics" ], "sub_tasks": [ - "Grasp the green cuboid block with the right gripper", - "Place the bullet into the bowl with the left gripper", "End", - "Grasp the bullet with the left gripper", - "Abnormal", - "Place the green cuboid block into the bowl with the right gripper", + "Stick the advertisement in the top-right corner area with both grippers", "null" ], "annotations": { @@ -22095,12 +18486,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "alpha_bot_2_sticker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "alpha_bot_2_sticker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_place_the_fruits_repeatedly": { - "path": "RMC-AIDA-L_place_the_fruits_repeatedly", - "dataset_name": "place_the_fruits_repeatedly", + "R1_Lite_stack_baskets": { + "path": "R1_Lite_stack_baskets", + "dataset_name": "stack_baskets", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -22109,10 +18500,9 @@ "atomic_actions": [ "grasp", "place", - "pick", - "pour" + "pick" ], - "tasks": "Pick up the bowl with the left gripper", + "tasks": "Grasp the dark basket with the right gripper", "objects": [ { "object_name": "table", @@ -22123,59 +18513,27 @@ "level5": null }, { - "object_name": "bowl", + "object_name": "basket", "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread", - "level1": "food", - "level2": "bread", + "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-541540", - "dataset_size": "3.7GB", + "frame_range": "0-57189", + "dataset_size": "4.1GB", "statistics": { - "total_episodes": 481, - "total_frames": 541540, - "total_tasks": 8, - "total_videos": 1443, + "total_episodes": 101, + "total_frames": 57189, + "total_tasks": 1, + "total_videos": 404, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "3448d8ea-8209-43cf-bfcc-550863a26b13", + "dataset_uuid": "4b7a3d8c-18c0-45af-9337-02adad3a72de", "language": [ "en", "zh" @@ -22184,22 +18542,12 @@ "robotics" ], "sub_tasks": [ - "Pick up the bowl with the left gripper", - "Place the bread into the bowl", - "abnormal", - "Pick up the egg yolk pastry with the right gripper", - "Pour the egg yolk pastry out of bowl", - "Pour the orange out of the bowl", - "Place the peach into the bowl", - "Pour the peach out of bowl", - "Place the egg yolk pastry into the bowl", - "Pick up the bread with the right gripper", - "Pick up the peach with the right gripper", - "Pour the bread out of the bowl", - "end", - "Place the bowl on the table", - "Place the orange into the bowl", - "Pick up the orange with the right gripper", + "Grasp the dark basket with the right gripper", + "End", + "Place the light basket on the middle of the table with the left gripper", + "Grasp the light basket with the left gripper", + "Place the dark basket into the light color basket with the right gripper", + "Static", "null" ], "annotations": { @@ -22237,23 +18585,24 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_stack_baskets_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers": { - "path": "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers", - "dataset_name": "place_the_piano_and_the_needle-nose_pliers", + "Galbot_g1_fold_clothe_b": { + "path": "Galbot_g1_fold_clothe_b", + "dataset_name": "fold_clothe_b", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", + "pick", "place", - "pick" + "flod" ], - "tasks": "End", + "tasks": "Abnormal", "objects": [ { "object_name": "table", @@ -22264,43 +18613,27 @@ "level5": null }, { - "object_name": "hand_tapping_the_qin", - "level1": "toy", - "level2": "hand_tapping_the_qin", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lid", - "level1": "container", - "level2": "lid", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long-nose_pliers", - "level1": "tool", - "level2": "long-nose_pliers", + "object_name": "clothes", + "level1": "fabric", + "level2": "clothes", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-25318", - "dataset_size": "826.8MB", + "operation_platform_height": null, + "frame_range": "0-197328", + "dataset_size": "8.8GB", "statistics": { - "total_episodes": 49, - "total_frames": 25318, + "total_episodes": 213, + "total_frames": 197328, "total_tasks": 1, - "total_videos": 196, + "total_videos": 639, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "230992b4-bba2-4f5b-99ce-03e63d148ce1", + "dataset_uuid": "0dd63c25-960f-4489-88af-e3c5c38998c2", "language": [ "en", "zh" @@ -22309,13 +18642,17 @@ "robotics" ], "sub_tasks": [ - "End", - "Static", - "Place the tongs on the white lid with the right gripper", - "Grasp the tongs with the right gripper", - "Place the xylophone on the white lid with the left gripper", - "Grasp the xylophone with the left gripper", "Abnormal", + "use the left gripper to clamp the left edge of the fabric", + "Drag the clothes to the center of the table", + "End", + "use both grippers simultaneously to clamp the upper edge of the clothing fabric", + "use both grippers to drag the lower edge of the fabric forward and fold it over the upper edge", + "use both grippers to drag the upper edge of the fabric backward and fold it over the lower edge", + "use both grippers simultaneously to clamp the lower edge of the clothing fabric", + "Drag the clothes downward with both gripper", + "use the left gripper to drag the left edge of the fabric to the left and folds it over the right edge", + "Flip the folded clothes over with left gripper", "null" ], "annotations": { @@ -22353,311 +18690,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_take_the_book": { - "path": "AIRBOT_MMK2_take_the_book", - "dataset_name": "take_the_book", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "pick" - ], - "tasks": "Lay the book down with the right gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bookshelf", - "level1": "container", - "level2": "bookshelf", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "book", - "level1": "stationery", - "level2": "book", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-9314", - "dataset_size": "352.3MB", - "statistics": { - "total_episodes": 79, - "total_frames": 9314, - "total_tasks": 2, - "total_videos": 316, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "a04264d7-7e81-40cc-af53-0ec87db1f556", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Lay the book down with the right gripper", - "Hold the book with the right gripper", - "Abnormal", - "End", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_move_the_plate": { - "path": "Cobot_Magic_move_the_plate", - "dataset_name": "move_the_plate", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pick the container that can hold fruits", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-25057", - "dataset_size": "418.0MB", - "statistics": { - "total_episodes": 98, - "total_frames": 25057, - "total_tasks": 1, - "total_videos": 294, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 50 - }, - "dataset_uuid": "8d39690e-e415-4f1c-9e39-2c0a83b6fe12", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick the container that can hold fruits", - "Move the picked object to the right side of the table", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_move_the_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_move_the_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_robotic_arm_picks_up_battery": { - "path": "AgiBot-g1_robotic_arm_picks_up_battery", - "dataset_name": "robotic_arm_picks_up_battery", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the power supply on the operating table.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "carton", - "level1": "laboratory_supplies", - "level2": "carton", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "battery", - "level1": "tool", - "level2": "battery", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-30215", - "dataset_size": "17.9GB", - "statistics": { - "total_episodes": 56, - "total_frames": 30215, - "total_tasks": 1, - "total_videos": 448, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "14af3598-fff7-4c0b-bca2-16c57884c70e", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the power supply on the operating table.", - "Grab and lift the power supply from the large box.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Galbot_g1_fold_clothe_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Galbot_g1_fold_clothe_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_storage_braised_pork_belly_shrimp": { + "Agilex_Cobot_Magic_erase_board_left": { "task_categories": [ "robotics" ], @@ -22687,11 +18723,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_braised_pork_belly_shrimp", + "dataset_name": "Agilex_Cobot_Magic_erase_board_left", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "kitchen", + "level1": "education", + "level2": "school", "level3": null, "level4": null, "level5": null @@ -22699,25 +18735,25 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "shrimp", - "level1": "prepared_dishes", - "level2": "shrimp", + "object_name": "table", + "level1": "home_storage", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "braised_pork", - "level1": "prepared_dishes", - "level2": "braised_pork", + "object_name": "whiteboard", + "level1": "stationery", + "level2": "whiteboard", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "plates", - "level2": "plate", + "object_name": "whiteboard_eraser", + "level1": "stationery", + "level2": "whiteboard_eraser", "level3": null, "level4": null, "level5": null @@ -22725,65 +18761,60 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "put the braised pork and shrimp on the plate" + "use the left claw to pick up the whiteboard eraser, wipe the notes on the whiteboard clean, and then put them back in place." ], "sub_tasks": [ { - "subtask": "Place the braised pork in brown sauce into the plate with the left gripper", + "subtask": "Place the eraser with the left gripper", "subtask_index": 0 }, { - "subtask": "Grasp the shrimp with the right gripper", + "subtask": "Grasp the eraser with the left gripper", "subtask_index": 1 }, { - "subtask": "Place the shrimp into the plate with the right gripper", + "subtask": "Abnormal", "subtask_index": 2 }, { - "subtask": "Grasp the cake from the table and with the left gripper", + "subtask": "End", "subtask_index": 3 }, { - "subtask": "End", + "subtask": "Grasp the eraser and wipe the blackboard with the left gripper", "subtask_index": 4 }, - { - "subtask": "Grasp the braised pork in brown sauce with the left gripper", - "subtask_index": 5 - }, { "subtask": "null", - "subtask_index": 6 + "subtask_index": 5 } ], "atomic_actions": [ "grasp", - "pick", - "place" + "lift", + "wipe", + "handover" ], "robot_name": [ - "Airbot_MMK2" + "Agilex_Cobot_Magic" ], - "end_effector_type": "five_finger_gripper", + "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "cam_right_wrist_rgb" ], "came_info": { "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -22794,23 +18825,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 38, - "total_frames": 5834, + "total_episodes": 49, + "total_frames": 23847, "fps": 30, - "total_tasks": 7, - "total_videos": 152, + "total_tasks": 6, + "total_videos": 147, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "277.59 MB" + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "217.68 MB" }, - "frame_num": 5834, - "dataset_size": "277.59 MB", - "data_structure": "Airbot_MMK2_storage_braised_pork_belly_shrimp_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (26 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_front_rgb\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 23847, + "dataset_size": "217.68 MB", + "data_structure": "Agilex_Cobot_Magic_erase_board_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|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:37" + "train": "0:48" }, "features": { "observation.images.cam_head_rgb": { @@ -22882,33 +18913,10 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, "observation.state": { "dtype": "float32", "shape": [ - 36 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -22917,42 +18925,32 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -22961,36 +18959,26 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "timestamp": { @@ -23030,17 +19018,17 @@ }, "subtask_annotation": { "names": null, + "dtype": "int32", "shape": [ 5 - ], - "dtype": "int32" + ] }, "scene_annotation": { "names": null, + "dtype": "int32", "shape": [ 1 - ], - "dtype": "int32" + ] }, "eef_sim_pose_state": { "names": [ @@ -23057,10 +19045,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_sim_pose_action": { "names": [ @@ -23077,70 +19065,130 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "dtype": "int32", "shape": [ 2 + ] + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" ], - "dtype": "int32" + "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": { @@ -23162,11 +19210,11 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "alpha_bot_2_stack_building_blocks": { - "path": "alpha_bot_2_stack_building_blocks", - "dataset_name": "stack_building_blocks", + "R1_Lite_connect_the_router_cable": { + "path": "R1_Lite_connect_the_router_cable", + "dataset_name": "connect_the_router_cable", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -23175,9 +19223,10 @@ "atomic_actions": [ "grasp", "pick", - "place" + "place", + "insert" ], - "tasks": "Grasp the blue building block with left gripper", + "tasks": "Hand it to the other hand", "objects": [ { "object_name": "table", @@ -23188,27 +19237,51 @@ "level5": null }, { - "object_name": "building_blocks", - "level1": "toys", - "level2": "building_blocks", + "object_name": "router", + "level1": "electric_appliance", + "level2": "router", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "socket", + "level1": "electric_appliance", + "level2": "socket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cable", + "level1": "electric_appliance", + "level2": "cable", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plug", + "level1": "electric_appliance", + "level2": "plug", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-130049", - "dataset_size": "3.4GB", + "frame_range": "0-165617", + "dataset_size": "9.4GB", "statistics": { - "total_episodes": 139, - "total_frames": 130049, + "total_episodes": 105, + "total_frames": 165617, "total_tasks": 1, - "total_videos": 556, + "total_videos": 315, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "f7781909-81c7-40ee-98a5-67783a48dc66", + "dataset_uuid": "2802db0f-0c22-4fba-b305-aae14b28e492", "language": [ "en", "zh" @@ -23217,22 +19290,32 @@ "robotics" ], "sub_tasks": [ - "Grasp the blue building block with left gripper", + "Hand it to the other hand", + "Pick up plug", + "Pick up the cable", + "Close the lower drawer", + "Place the iced tea in the fridge", + "Open the upper fridge door", + "Plug it into the socket", "End", - "Place the pink building block in the center of table with left gripper", - "Grasp the pink building block with left gripper", - "Place the blue building block on the pink building blocks with left gripper", - "Grasp the green building block with left gripper", - "Place the pink building block on the blue building blocks with right gripper", - "Place the green block on the pink block with left gripper", - "Place the blue building block on the blue building blocks with right gripper", - "Place the blue building block on the pink building blocks with right gripper", - "Grasp the blue building block with right gripper", - "Place the pink building block on the blue building blocks with left gripper", - "Place the blue building block on the blue building blocks with left gripper", - "Grasp the pink building block with right gripper", - "Place the pink block on the blue block with right gripper", - "Place the blue building block in the center of table with left gripper", + "Place zucchini in the lower drawer", + "Open the lower drawer", + "Deliver it to the other hand", + "Abnormal", + "Plug plug into socket", + "Open the plastic bag", + "Place pear in the lower drawer", + "Place the Wahaha in the fridge", + "Pick up cable", + "Close the middle refrigerator door", + "Open the middle refrigerator door", + "Place king oyster Mushroom in the lower drawer", + "Plug cable into router interface", + "Align cable and router interface", + "Close the upper refrigerator door", + "Align plug and socket", + "Plug it into the receiver", + "Pick up the plug", "null" ], "annotations": { @@ -23270,12 +19353,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "alpha_bot_2_stack_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "alpha_bot_2_stack_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_connect_the_router_cable_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_connect_the_router_cable_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_catch_the_ball": { - "path": "Cobot_Magic_catch_the_ball", - "dataset_name": "catch_the_ball", + "Cobot_Magic_pour_drink": { + "path": "Cobot_Magic_pour_drink", + "dataset_name": "pour_drink", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -23284,9 +19367,10 @@ "atomic_actions": [ "grasp", "pick", - "place" + "place", + "pour" ], - "tasks": "Put the picked-up object on the table.", + "tasks": "Grasp the black cup with left gripper", "objects": [ { "object_name": "table", @@ -23297,27 +19381,115 @@ "level5": null }, { - "object_name": "ball", - "level1": "toy", - "level2": "ball", + "object_name": "NFC_orange_juice", + "level1": "drink", + "level2": "NFC_orange_juice", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "red_wine", + "level1": "drink", + "level2": "red_wine", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sprite", + "level1": "drink", + "level2": "sprite", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "black_mug", + "level1": "container", + "level2": "black_mug", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "paper_cup", + "level1": "container", + "level2": "paper_cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "transparent_cup", + "level1": "container", + "level2": "transparent_cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cestbon", + "level1": "drink", + "level2": "cestbon", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee", + "level1": "drink", + "level2": "coffee", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cola", + "level1": "drink", + "level2": "cola", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "drink", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "container", + "level2": "cup", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-57085", - "dataset_size": "877.6MB", + "frame_range": "0-862292", + "dataset_size": "12.6GB", "statistics": { - "total_episodes": 98, - "total_frames": 57085, - "total_tasks": 1, - "total_videos": 294, - "total_chunks": 1, + "total_episodes": 1613, + "total_frames": 862292, + "total_tasks": 61, + "total_videos": 4839, + "total_chunks": 2, "chunks_size": 1000, - "fps": 50 + "fps": 30 }, - "dataset_uuid": "3ea12ae6-b4f3-453d-b56f-bca0e5a346c8", + "dataset_uuid": "9b6b4d09-0c15-4d1f-b8f9-12be94c871cd", "language": [ "en", "zh" @@ -23326,10 +19498,62 @@ "robotics" ], "sub_tasks": [ - "Put the picked-up object on the table.", - "Grab the rolling spherical object.", - "Grab the spherical object with your left arm.", - "Place the sphere on the white object.", + "Grasp the black cup with left gripper", + "Grasp the white cup with right gripper", + "Static", + "Place the orange juice bottle on the table with left gripper", + "Lift the black cup with left gripper", + "Place the water bottle on the table with right gripper", + "Place the grey cup on the table with left gripper", + "End", + "Place the sprite bottle on the table with right gripper", + "Lift the red cup with left gripper", + "Place the cola bottle on the table with left gripper", + "Grasp the bottle with cola with right gripper", + "Grasp the bottle with sprite with left gripper", + "Pour the water from bottle to cup with right gripper", + "Place the coffee bottle on the table with right gripper", + "Grasp the bottle with orange juice with left gripper", + "Pour the red wine from bottle to cup with left gripper", + "Place the black cup in the center of view with right gripper", + "Place the transparent cup on the table with right gripper", + "Place the white cup on the table with right gripper", + "Grasp the bottle filled water with right gripper", + "Grasp the bottle with coffee with right gripper", + "Place the yellow paper cup on the table with left gripper", + "Pour the yuexian Milk from bottle to cup with right gripper", + "Grasp the bottle with red wine with left gripper", + "Grasp the black cup with right gripper", + "Place the white cup on the table with left gripper", + "Grasp the yellow paper cup with right gripper", + "Grasp the yellow paper cup with left gripper", + "Pour the orange juice from bottle to cup with left gripper", + "Grasp the bottle with water with right gripper", + "Pour the yogurt from bottle to cup with left gripper", + "Grasp the bottle with yuexian Milk with right gripper", + "Place the yellow paper cup on the table with right gripper", + "Pour the cola from bottle to cup with right gripper", + "Abnormal", + "Grasp the white cup with left gripper", + "Pour the sprite from bottle to cup with left gripper", + "Lift the grey cup with left gripper", + "Place the black cup on the table with left gripper", + "Grasp the red cup with left gripper", + "Place the red cup on the table with left gripper", + "Lift the yellow paper cup with right gripper", + "Grasp the grey cup with left gripper", + "Place the yuexian Milk bottle on the table with right gripper", + "Lift the yellow paper cup with left gripper", + "Place the sprite bottle on the table with left gripper", + "Lift the white cup with left gripper", + "Place the cola bottle on the table with right gripper", + "Pour the sprite from bottle to cup with right gripper", + "Place the red wine bottle on the table with left gripper", + "Lift the white cup with right gripper", + "Grasp the transparent cup with right gripper", + "Grasp the bottle with sprite with right gripper", + "Pour the coffee from bottle to cup with right gripper", + "Lift the grey cup with right gripper", "null" ], "annotations": { @@ -23367,12 +19591,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_pour_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", + "structure": "Cobot_Magic_pour_drink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" }, - "Cobot_Magic_open_the_shoebox": { - "path": "Cobot_Magic_open_the_shoebox", - "dataset_name": "open_the_shoebox", + "R1_Lite_wash_the_tableware": { + "path": "R1_Lite_wash_the_tableware", + "dataset_name": "wash_the_tableware", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -23380,9 +19604,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pull" + "pick", + "place" ], - "tasks": "Open the shoe box", + "tasks": "Grasp yellow bowl with right gripper", "objects": [ { "object_name": "table", @@ -23393,27 +19618,59 @@ "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "sink", + "level1": "container", + "level2": "sink", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chopsticks", + "level1": "tableware", + "level2": "chopsticks", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-185740", - "dataset_size": "2.8GB", + "operation_platform_height": null, + "frame_range": "0-197672", + "dataset_size": "7.3GB", "statistics": { - "total_episodes": 299, - "total_frames": 185740, - "total_tasks": 3, - "total_videos": 897, + "total_episodes": 137, + "total_frames": 197672, + "total_tasks": 1, + "total_videos": 411, "total_chunks": 1, "chunks_size": 1000, - "fps": 50 + "fps": 30 }, - "dataset_uuid": "1708df8d-97e4-42b0-a8ee-de1bb93b4d77", + "dataset_uuid": "62b4f49b-4413-4d29-9822-c440835cdf41", "language": [ "en", "zh" @@ -23422,7 +19679,46 @@ "robotics" ], "sub_tasks": [ - "Open the shoe box", + "Grasp yellow bowl with right gripper", + "Pick up the bowl", + "Open the dispenser valve with right gripper", + "End", + "Rinse the chopsticks", + "Put the chopsticks into the sink", + "Place the chopsticks on the table", + "Put a spoon back to the table from the sink", + "Put a bowl back to the table from the sink", + "Place pink bowl into the sink with right gripper", + "Rinse the plate", + "Wait for the water to rinse the bowl", + "Place a chopstick into the sink with right gripper", + "Put a bowl into the sink", + "Rinse the bowl", + "Place a chopstick on the bowl with right gripper", + "Place the plate on the table", + "Pour the water from the yellow bowl into the sink with right gripper", + "Place the bowl on the table", + "Pick up the chopsticks", + "Put the chopsticks back to the table from the sink", + "Put a spoon into the sink", + "Pour the water from the pink bowl into the sink with right gripper", + "Place the chopsticks on the bowl", + "Abnormal", + "Pick up the spoon", + "Rinse the spoon", + "Place yellow bowl on the table with right gripper", + "Place yellow bowl into the sink with right gripper", + "Place the spoon on the plate", + "Put a plate back to the table from the sink", + "Turn off the faucet", + "Pick up the plate", + "Place the spoon on the bowl", + "Close the dispenser valve with right gripper", + "Grasp a chopstick with right gripper", + "Grasp pink bowl with right gripper", + "Turn on the faucet", + "Place pink bowl on the table with right gripper", + "Put a plate into the sink", "null" ], "annotations": { @@ -23460,24 +19756,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_wash_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_wash_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_pour_rice": { - "path": "RMC-AIDA-L_pour_rice", - "dataset_name": "pour_rice", + "AIRBOT_MMK2_store_peaches_and_pears": { + "path": "AIRBOT_MMK2_store_peaches_and_pears", + "dataset_name": "store_peaches_and_pears", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", "pick", - "place", - "pour" + "place" ], - "tasks": "Pick up the cup with rice in it with the left gripper", + "tasks": "Place the pear into the right compartment of the storage box with the right gripper", "objects": [ { "object_name": "table", @@ -23488,43 +19783,43 @@ "level5": null }, { - "object_name": "rice", - "level1": "food", - "level2": "rice", + "object_name": "peache", + "level1": "fruit", + "level2": "peache", "level3": null, "level4": null, "level5": null }, { - "object_name": "grain_cup", - "level1": "container", - "level2": "grain_cup", + "object_name": "pear", + "level1": "fruit", + "level2": "pear", "level3": null, "level4": null, "level5": null }, { - "object_name": "rice_cooker", - "level1": "home_appliances", - "level2": "rice_cooker", + "object_name": "compartment", + "level1": "container", + "level2": "compartment", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-413739", - "dataset_size": "2.9GB", + "frame_range": "0-11276", + "dataset_size": "343.0MB", "statistics": { - "total_episodes": 714, - "total_frames": 413739, - "total_tasks": 2, - "total_videos": 2142, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 + "total_episodes": 48, + "total_frames": 11276, + "total_tasks": 1, + "total_videos": 192, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 }, - "dataset_uuid": "c79b49bf-cadf-4094-831d-bbf6403956c6", + "dataset_uuid": "c95d9ed0-71ed-4c90-94ec-30af0eb88215", "language": [ "en", "zh" @@ -23533,21 +19828,12 @@ "robotics" ], "sub_tasks": [ - "Pick up the cup with rice in it with the left gripper", + "Place the pear into the right compartment of the storage box with the right gripper", + "Place the peach into the left compartment of the storage box with the left gripper", + "Abnormal", + "Grasp a peach with the left gripper", "End", - "Move the bowl in the center of view with left gripper", - "Pick up the bowl with the left gripper", - "Place the cup on the table with the right gripper", - "Pour the rice from the cup into the bowl with the left gripper", - "Place the bowl in the center of view with the right gripper", - "Static", - "Place the cup on the table with the left gripper", - "Pour the rice from the cup into the bowl with the right gripper", - "Pick up the cup with rice in it with the right gripper", - "Pick up the bowl with the right gripper", - "Place the bowl in the center of view with the left gripper", - "Grasp the cup with rice in it with right gripper", - "abnormal", + "Grasp a pear with the right gripper", "null" ], "annotations": { @@ -23585,70 +19871,52 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_store_peaches_and_pears_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_bowl_storage_pepper": { - "path": "AIRBOT_MMK2_bowl_storage_pepper", - "dataset_name": "bowl_storage_pepper", + "G1edu-u3_pullBowl_storage_bread_b": { + "path": "G1edu-u3_pullBowl_storage_bread_b", + "dataset_name": "pullBowl__storage2bread_unordered", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ - "grasp", - "pick", - "place" + "walk" ], - "tasks": "Place the white bowl on the pink bowl with the left gripper", + "tasks": "Move the pink bowl to the center of table with right hand", "objects": [ { - "object_name": "table", + "object_name": "chair", "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chili_pepper", - "level1": "vegetables", - "level2": "chili_pepper", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "level2": "chair", "level3": null, "level4": null, "level5": null }, { - "object_name": "pumpkin", - "level1": "vegetables", - "level2": "pumpkin", + "object_name": "bear_doll", + "level1": "toy", + "level2": "bear_doll", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-19594", - "dataset_size": "715.7MB", + "frame_range": "0-162960", + "dataset_size": "3.3GB", "statistics": { - "total_episodes": 150, - "total_frames": 19594, - "total_tasks": 3, - "total_videos": 600, + "total_episodes": 186, + "total_frames": 162960, + "total_tasks": 1, + "total_videos": 558, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "83f67fd9-c480-4786-ae1d-41475a4f4618", + "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a48", "language": [ "en", "zh" @@ -23657,15 +19925,15 @@ "robotics" ], "sub_tasks": [ - "Place the white bowl on the pink bowl with the left gripper", - "Grasp the white bowl with the left gripper", + "Move the pink bowl to the center of table with right hand", "Static", + "Grasp the round bread with left hand", "End", + "Move towards the toy bear on the chair", + "Grasp the long bread with left hand", + "Place the round bread in pink bowl with left hand", "Abnormal", - "Grasp the pumpkin with the left gripper", - "Place the pumpkin on the pink bowl with the left gripper", - "Grasp the yellow round chili pepper with the right gripper", - "Place yellow round chili pepper on the blue bowl with the right gripper", + "Place the long bread in pink bowl with left hand", "null" ], "annotations": { @@ -23703,23 +19971,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pullBowl_storage_bread_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_move_the_position_of_the_cookie": { - "path": "R1_Lite_move_the_position_of_the_cookie", - "dataset_name": "move_the_position_of_the_cookie", + "AIRBOT_MMK2_the_cup_is_put_into_the_bucket": { + "path": "AIRBOT_MMK2_the_cup_is_put_into_the_bucket", + "dataset_name": "the_cup_is_put_into_the_bucket", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ - "place", - "pick", - "grasp" + "grasp", + "open", + "hold" ], - "tasks": "Place the cookie on the table with right gripper", + "tasks": "Lift the cup the right gripper", "objects": [ { "object_name": "table", @@ -23730,355 +19998,35 @@ "level5": null }, { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bath_ball", - "level1": "daily_necessities", - "level2": "bath_ball", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "can", - "level1": "container", - "level2": "can", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "hard_cleanser", - "level1": "daily_necessities", - "level2": "hard_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peeler", - "level1": "tool", - "level2": "peeler", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "block", - "level1": "toy", - "level2": "block", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "duck", - "level1": "toy", - "level2": "duck", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soap", - "level1": "daily_necessities", - "level2": "soap", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "basket", + "object_name": "paper_cup", "level1": "container", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cola", - "level1": "drink", - "level2": "cola", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "detergent", - "level1": "daily_necessities", - "level2": "detergent", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_beater", - "level1": "electrical_appliances", - "level2": "egg_beater", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "marker", - "level1": "office_supplies", - "level2": "marker", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rubiks_cube", - "level1": "toy", - "level2": "rubiks_cube", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread_slice", - "level1": "food", - "level2": "bread_slice", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "brush", - "level1": "daily_necessities", - "level2": "brush", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yogurt", - "level1": "drink", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "power_strip", - "level1": "electric_appliance", - "level2": "power_strip", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "milk", - "level1": "drink", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soda", - "level1": "drink", - "level2": "soda", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lime", - "level1": "fruit", - "level2": "lime", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "coffee_capsule", - "level1": "drink", - "level2": "coffee_capsule", + "level2": "paper_cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "dish", + "object_name": "bucket", "level1": "container", - "level2": "dish", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glass", - "level1": "furniture", - "level2": "glass", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "gum", - "level1": "daily_necessities", - "level2": "gum", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tape", - "level1": "daily_necessities", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soft_cleanser", - "level1": "daily_necessities", - "level2": "soft_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chips", - "level1": "food", - "level2": "chips", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", + "level2": "bucket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-5045", - "dataset_size": "198.3MB", + "frame_range": "0-9335", + "dataset_size": "369.4MB", "statistics": { - "total_episodes": 25, - "total_frames": 5045, + "total_episodes": 50, + "total_frames": 9335, "total_tasks": 1, - "total_videos": 100, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "7015670f-e702-4c08-a662-e74aee0c0872", + "dataset_uuid": "3d103654-86bc-4dae-b569-be335fe5d8df", "language": [ "en", "zh" @@ -24087,13 +20035,14 @@ "robotics" ], "sub_tasks": [ - "Place the cookie on the table with right gripper", + "Lift the cup the right gripper", "Static", - "Place the cookie on the table with left gripper", "End", - "Grasp the cookie with right gripper", - "Grasp the cookie with left gripper", - "Abnormal", + "Grasp the cup the right gripper", + "Lift the cup the left gripper", + "Grasp the cup the left gripper", + "place the cup in the yellow basket use the right gripper", + "place the cup in the yellow basket use the left gripper", "null" ], "annotations": { @@ -24131,536 +20080,70 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_cookie_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_cookie_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_the_cup_is_put_into_the_bucket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_move_tub": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" + "leju_robot_box_storage_parcel_d": { + "path": "leju_robot_box_storage_parcel_d", + "dataset_name": "box_storage_parcel_d", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" ], - "tags": [ - "RoboCOIN", - "LeRobot" + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "license": "apache-2.0", - "configs": [ + "tasks": "Pass the laundry detergent to the left gripper", + "objects": [ { - "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\"" + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_move_tub", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "household", - "level2": "kitchen", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", - "objects": [ { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "box", + "level1": "home_storage", + "level2": "box", "level3": null, "level4": null, "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "pass the plate to your right hand with your left hand and then put it down." - ], - "sub_tasks": [ - { - "subtask": "Grasp the white box with left gripper", - "subtask_index": 0 - }, - { - "subtask": "Place the white box in the center of table with right gripper", - "subtask_index": 1 - }, - { - "subtask": "End", - "subtask_index": 2 - }, - { - "subtask": "Pass the white box to right gripper", - "subtask_index": 3 - }, - { - "subtask": "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": 37, - "total_frames": 11634, - "fps": 30, - "total_tasks": 5, - "total_videos": 148, - "total_chunks": 1, - "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "340.31 MB" - }, - "frame_num": 11634, - "dataset_size": "340.31 MB", - "data_structure": "Airbot_MMK2_move_tub_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (25 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", - "splits": { - "train": "0:36" - }, - "features": { - "observation.images.cam_head_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_left_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_front_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.state": { - "dtype": "float32", - "shape": [ - 36 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" - ] - }, - "action": { - "dtype": "float32", - "shape": [ - 36 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" - ] - }, - "timestamp": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": null - }, - "frame_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "episode_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "task_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "subtask_annotation": { - "names": null, - "shape": [ - 5 - ], - "dtype": "int32" - }, - "scene_annotation": { - "names": null, - "shape": [ - 1 - ], - "dtype": "int32" - }, - "eef_sim_pose_state": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" - }, - "eef_sim_pose_action": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" - }, - "eef_direction_state": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_direction_action": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_velocity_state": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_velocity_action": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_acc_mag_state": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" }, - "eef_acc_mag_action": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" - } - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" - } - ] - }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" - }, - "G1edu-u3_put_the_lemon_af": { - "path": "G1edu-u3_put_the_lemon_af", - "dataset_name": "put_the_lemon_af", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place" - ], - "tasks": "End", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "parcel", + "level1": "container", + "level2": "parcel", "level3": null, "level4": null, "level5": null }, { - "object_name": "lemon", - "level1": "fruits", - "level2": "lemon", + "object_name": "conveyor_belt", + "level1": "industrial_equipment", + "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-3544", - "dataset_size": "37.1MB", + "frame_range": "0-288956", + "dataset_size": "18.0GB", "statistics": { - "total_episodes": 19, - "total_frames": 3544, + "total_episodes": 212, + "total_frames": 288956, "total_tasks": 1, - "total_videos": 19, + "total_videos": 636, "total_chunks": 1, - "chunks_size": 19, + "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "c37586ed-bc01-40b2-9038-cd26ce06df5b", + "dataset_uuid": "a24f0c02-18b7-4770-8ed1-41d5db2ba6d8", "language": [ "en", "zh" @@ -24669,9 +20152,13 @@ "robotics" ], "sub_tasks": [ - "End", - "Place the lemon on the table with right gripper", - "Place the lemon on the table with left gripper", + "Pass the laundry detergent to the left gripper", + "Pick up the fast-moving consumer goods bottle from the table.", + "Take the fast-moving consumer goods bottle from the table.", + "Abnormal", + "Grasp the laundry detergent with right gripper", + "Place the laundry detergent on the yellow rubber mat with left gripper", + "Flip the fast-moving consumer goods bottle to the front side.", "null" ], "annotations": { @@ -24709,10 +20196,354 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_box_storage_parcel_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_box_storage_parcel_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_take_drink": { + "Cobot_Magic_move_the_cup": { + "path": "Cobot_Magic_move_the_cup", + "dataset_name": "move_the_cup", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the transparent glass cup", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glass_cup", + "level1": "container", + "level2": "glass_cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-28338", + "dataset_size": "1.1GB", + "statistics": { + "total_episodes": 100, + "total_frames": 28338, + "total_tasks": 1, + "total_videos": 300, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "503e7d0b-c281-4ea6-98ff-ebe74764c6ad", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the transparent glass cup", + "Place the glass cup on the blue zone", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_move_the_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_move_the_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_storage_of_toiletries": { + "path": "R1_Lite_storage_of_toiletries", + "dataset_name": "storage_of_toiletries", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the toothpaste in the storage bag", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "storage_bag", + "level1": "container", + "level2": "storage_bag", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "toothpaste", + "level1": "personal_care_products", + "level2": "toothpaste", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "toothbrush", + "level1": "personal_care_products", + "level2": "toothbrush", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "comb", + "level1": "personal_care_products", + "level2": "comb", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-138432", + "dataset_size": "7.0GB", + "statistics": { + "total_episodes": 101, + "total_frames": 138432, + "total_tasks": 1, + "total_videos": 303, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "25f2cd96-c284-44a9-b59c-98e204e16347", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the toothpaste in the storage bag", + "Pick up the comb", + "Place the comb on the table", + "Place the comb into the storage bag", + "Pick up the storage bag", + "Pick up a toothbrush", + "Place the toothpaste on the table", + "abnormal", + "Pick up the toothpaste", + "Open the storage bag", + "Close the strorage bag and place it on the desk", + "Place the toothbrush in the storage bag", + "Hand it to the other hand", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_storage_of_toiletries_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_storage_of_toiletries_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AgiBot-g1_storage_item_d": { + "path": "AgiBot-g1_storage_item_d", + "dataset_name": "storage_item_d", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Grab and pick up both the mouse and power cord from the accessory packaging area at the same time", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "data_cable", + "level1": "tool", + "level2": "data_cable", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mouse", + "level1": "tool", + "level2": "mouse", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-180148", + "dataset_size": "86.0GB", + "statistics": { + "total_episodes": 450, + "total_frames": 180148, + "total_tasks": 1, + "total_videos": 3600, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "49f10ba2-bad7-46fc-ae4b-f6142efa81a2", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grab and pick up both the mouse and power cord from the accessory packaging area at the same time", + "Place the mouse and power cord into the box", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_storage_item_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_storage_item_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Galaxea_R1_Lite_classify_object_five": { "task_categories": [ "robotics" ], @@ -24742,10 +20573,10 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_take_drink", + "dataset_name": "Galaxea_R1_Lite_classify_object_five", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "convenience", + "level1": "commercial_convenience", "level2": "supermarket", "level3": null, "level4": null, @@ -24754,17 +20585,49 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "any_beverages", - "level1": "beverages", - "level2": "any_beverages", + "object_name": "brown_basket", + "level1": "baskets", + "level2": "brown_basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "paper_cup", - "level1": "cups", - "level2": "paper_cup", + "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 @@ -24772,167 +20635,313 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "pick up the drink by hand and put it on the table." + "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": "Place the coffee on the table with the left gripper", + "subtask": "Grasp the rubiks cube and put it in the left basket", "subtask_index": 0 }, { - "subtask": "Place the vitamin B water on the table with the left gripper", + "subtask": "Grasp the waffle and put it in the right basket", "subtask_index": 1 }, { - "subtask": "Abnormal", + "subtask": "Grasp the soft cleanser and put it in the left basket", "subtask_index": 2 }, { - "subtask": "Place the vitamin B water on the table with the right gripper", + "subtask": "Grasp the back scratcher and put it in the left basket", "subtask_index": 3 }, { - "subtask": "Place the coffee on the table with the right gripper", + "subtask": "Grasp the apple and put it in the right basket", "subtask_index": 4 }, { - "subtask": "Grasp the vitamin B water on the white lid with the left gripper", + "subtask": "End", "subtask_index": 5 }, { - "subtask": "Grasp the vitamin B water on the white lid with the right gripper", + "subtask": "Grasp the white eraser and put it in the left basket", "subtask_index": 6 }, { - "subtask": "End", + "subtask": "Grasp the square chewing gum and put it in the right basket", "subtask_index": 7 }, { - "subtask": "Grasp the coffee on the white lid with the right gripper", + "subtask": "Grasp the power strip and put it in the left basket", "subtask_index": 8 }, { - "subtask": "null", + "subtask": "Grasp the cleaning agent and put it in the left basket", "subtask_index": 9 - } - ], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "robot_name": [ - "Airbot_MMK2" - ], - "end_effector_type": "five_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" - ], - "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" - }, - "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", - "annotations": [ - "eef_acc_mag_annotation.jsonl", - "eef_direction_annotation.jsonl", - "eef_velocity_annotation.jsonl", - "gripper_activity_annotation.jsonl", - "gripper_mode_annotation.jsonl", - "scene_annotations.jsonl", - "subtask_annotations.jsonl" - ], - "statistics": { - "total_episodes": 86, - "total_frames": 17345, - "fps": 30, - "total_tasks": 10, - "total_videos": 344, - "total_chunks": 1, - "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "570.83 MB" - }, - "frame_num": 17345, - "dataset_size": "570.83 MB", - "data_structure": "Airbot_MMK2_take_drink_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (74 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", - "splits": { - "train": "0:85" - }, - "features": { - "observation.images.cam_head_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } }, - "observation.images.cam_left_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } + { + "subtask": "Grasp the soda water and put it in the right basket", + "subtask_index": 10 }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, + { + "subtask": "Grasp the spoon and put it in the left basket", + "subtask_index": 11 + }, + { + "subtask": "Grasp the duck toys and put it in the left basket", + "subtask_index": 12 + }, + { + "subtask": "Grasp the triangle cake and put it in the right basket", + "subtask_index": 13 + }, + { + "subtask": "Grasp the compass and put it in the right basket", + "subtask_index": 14 + }, + { + "subtask": "Grasp the cookie and put it in the right basket", + "subtask_index": 15 + }, + { + "subtask": "Grasp the compass and put it in the left basket", + "subtask_index": 16 + }, + { + "subtask": "Grasp the orange and put it in the right basket", + "subtask_index": 17 + }, + { + "subtask": "Grasp the ballpoint pen and put it in the left basket", + "subtask_index": 18 + }, + { + "subtask": "Grasp the round bread and put it in the right basket", + "subtask_index": 19 + }, + { + "subtask": "Grasp the egg yolk pastry and put it in the right basket", + "subtask_index": 20 + }, + { + "subtask": "Grasp the lemon and put it in the right basket", + "subtask_index": 21 + }, + { + "subtask": "Grasp the soap and put it in the left basket", + "subtask_index": 22 + }, + { + "subtask": "Grasp the washing liquid and put it in the left basket", + "subtask_index": 23 + }, + { + "subtask": "Grasp the hard cleanser and put it in the left basket", + "subtask_index": 24 + }, + { + "subtask": "Grasp the milk and put it in the right basket", + "subtask_index": 25 + }, + { + "subtask": "Grasp the black marker and put it in the left basket", + "subtask_index": 26 + }, + { + "subtask": "Grasp the banana and put it in the right basket", + "subtask_index": 27 + }, + { + "subtask": "Grasp the black glass cup and put it in the left basket", + "subtask_index": 28 + }, + { + "subtask": "Grasp the brush and put it in the left basket", + "subtask_index": 29 + }, + { + "subtask": "Grasp the bath ball and put it in the left basket", + "subtask_index": 30 + }, + { + "subtask": "Grasp the blue towel and put it in the left basket", + "subtask_index": 31 + }, + { + "subtask": "Grasp the tea cup and put it in the left basket", + "subtask_index": 32 + }, + { + "subtask": "Grasp the peeler and put it in the left basket", + "subtask_index": 33 + }, + { + "subtask": "Grasp the brown towel and put it in the left basket", + "subtask_index": 34 + }, + { + "subtask": "Grasp the peach and put it in the right basket", + "subtask_index": 35 + }, + { + "subtask": "Abnormal", + "subtask_index": 36 + }, + { + "subtask": "Grasp the chocolate and put it in the right basket", + "subtask_index": 37 + }, + { + "subtask": "Grasp the grey towel and put it in the left basket", + "subtask_index": 38 + }, + { + "subtask": "Grasp the canned cola and put it in the right basket", + "subtask_index": 39 + }, + { + "subtask": "Grasp the tape and put it in the left basket", + "subtask_index": 40 + }, + { + "subtask": "Grasp the bread slice and put it in the right basket", + "subtask_index": 41 + }, + { + "subtask": "Grasp the tin and put it in the right basket", + "subtask_index": 42 + }, + { + "subtask": "Grasp the soap and put it in the right basket", + "subtask_index": 43 + }, + { + "subtask": "Grasp the glasses case and put it in the left basket", + "subtask_index": 44 + }, + { + "subtask": "Grasp the yellow duck and put it in the right basket", + "subtask_index": 45 + }, + { + "subtask": "Grasp the peach doll and put it in the right basket", + "subtask_index": 46 + }, + { + "subtask": "Grasp the blue cup and put it in the left basket", + "subtask_index": 47 + }, + { + "subtask": "Grasp the pen container and put it in the left basket", + "subtask_index": 48 + }, + { + "subtask": "Grasp the red duck and put it in the left basket", + "subtask_index": 49 + }, + { + "subtask": "Grasp the lime and put it in the right basket", + "subtask_index": 50 + }, + { + "subtask": "Grasp the long bread and put it in the right basket", + "subtask_index": 51 + }, + { + "subtask": "Grasp the yogurt and put it in the right basket", + "subtask_index": 52 + }, + { + "subtask": "Grasp the potato chips and put it in the right basket", + "subtask_index": 53 + }, + { + "subtask": "Grasp the can and put it in the right basket", + "subtask_index": 54 + }, + { + "subtask": "Grasp the ad milk and put it in the right basket", + "subtask_index": 55 + }, + { + "subtask": "Grasp the blue marker and put it in the left basket", + "subtask_index": 56 + }, + { + "subtask": "null", + "subtask_index": 57 + } + ], + "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": 195, + "total_frames": 160875, + "fps": 30, + "total_tasks": 58, + "total_videos": 780, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "8.91 GB" + }, + "frame_num": 160875, + "dataset_size": "8.91 GB", + "data_structure": "Galaxea_R1_Lite_classify_object_five_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (183 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:194" + }, + "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, @@ -24941,11 +20950,11 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { + "observation.images.cam_head_right_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -24954,8 +20963,54 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "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, @@ -24967,7 +21022,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -24982,36 +21037,14 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -25026,30 +21059,8 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "timestamp": { @@ -25200,6 +21211,66 @@ 2 ], "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" } }, "authors": { @@ -25221,209 +21292,500 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "Cobot_Magic_place_square_pyramid": { - "path": "Cobot_Magic_place_square_pyramid", - "dataset_name": "place_square_pyramid", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" + "Airbot_MMK2_push_toy_car": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" ], - "tasks": "Place the block onto the cube-shaped block", + "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_toy_car", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "living_room", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { "object_name": "table", - "level1": "furniture", + "level1": "home_storage", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "cube_block", + "object_name": "toy_car", "level1": "toy", - "level2": "cube_block", + "level2": "toy_car", "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 toy car by hand." + ], + "sub_tasks": [ + { + "subtask": "End", + "subtask_index": 0 }, { - "object_name": "square_pyramid", - "level1": "toy", - "level2": "square_pyramid", - "level3": null, - "level4": null, - "level5": null + "subtask": "Static", + "subtask_index": 1 + }, + { + "subtask": "Push the toy car from left to right with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "Abnormal", + "subtask_index": 3 + }, + { + "subtask": "null", + "subtask_index": 4 } ], - "operation_platform_height": 77.2, - "frame_range": "0-25851", - "dataset_size": "521.2MB", - "statistics": { - "total_episodes": 99, - "total_frames": 25851, - "total_tasks": 1, - "total_videos": 297, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "53a89b6b-14be-4a0e-8495-f3310b2ba5bd", - "language": [ - "en", - "zh" + "atomic_actions": [ + "push" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Airbot_MMK2" ], - "sub_tasks": [ - "Place the block onto the cube-shaped block", - "Place the triangular block onto the cube block", - "End", - "Grasp the triangular block", - "null" + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "alpha_bot_2_carry_the_clothes_basket": { - "path": "alpha_bot_2_carry_the_clothes_basket", - "dataset_name": "carry_the_clothes_basket", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Move the basket above the other table", - "objects": [ - { - "object_name": "clothes_basket", - "level1": "container", - "level2": "clothes_basket", - "level3": null, - "level4": null, - "level5": null - } + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" ], - "operation_platform_height": null, - "frame_range": "0-46527", - "dataset_size": "2.5GB", "statistics": { "total_episodes": 50, - "total_frames": 46527, - "total_tasks": 1, + "total_frames": 6897, + "fps": 30, + "total_tasks": 5, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "175.81 MB" }, - "dataset_uuid": "0df48917-c10a-469f-8f74-d57f284c09cd", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Move the basket above the other table", - "Grasp the basket with both grippers", - "Grasp the basket with left gripper", - "Grasp the basket with right gripper", - "End", - "Place the basket on the table with right gripper", - "Place the basket on the table with both grippers", - "Place the basket on the table with left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "frame_num": 6897, + "dataset_size": "175.81 MB", + "data_structure": "Airbot_MMK2_push_toy_car_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } }, "authors": { "contributed_by": [ { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_place_the_basin": { - "path": "AIRBOT_MMK2_place_the_basin", - "dataset_name": "place_the_basin", + "leju_robot_pass_the_cleaner_d": { + "path": "leju_robot_pass_the_cleaner_d", + "dataset_name": "pass_the_cleaner_d", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -25434,7 +21796,7 @@ "pick", "place" ], - "tasks": "Static", + "tasks": "Turn the bottle to the front side.", "objects": [ { "object_name": "table", @@ -25445,27 +21807,27 @@ "level5": null }, { - "object_name": "basin", - "level1": "container", - "level2": "basin", + "object_name": "cleaner", + "level1": "daily_necessities", + "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-7672", - "dataset_size": "272.9MB", + "operation_platform_height": null, + "frame_range": "0-168676", + "dataset_size": "8.7GB", "statistics": { - "total_episodes": 50, - "total_frames": 7672, + "total_episodes": 451, + "total_frames": 168676, "total_tasks": 1, - "total_videos": 200, + "total_videos": 1353, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "14a514fa-2a43-4b79-bcf6-c7d01e427623", + "dataset_uuid": "d1843bc1-83c4-4c84-8c34-c6740a7e82a9", "language": [ "en", "zh" @@ -25474,15 +21836,8 @@ "robotics" ], "sub_tasks": [ - "Static", - "Place the basin on the table with the right gripper", - "Grasp the basin with the right gripper", - "End", - "Lift the basin with the left gripper ", - "Grasp the basin with the left gripper ", - "Lift the basin with the right gripper", - "Place the basin on the table with the left gripper ", - "Abnormal", + "Turn the bottle to the front side.", + "Pick up the bottle from the table.", "null" ], "annotations": { @@ -25520,573 +21875,668 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_basin_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_place_the_basin_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_pass_the_cleaner_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_pass_the_cleaner_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_basket_storage_apple_b": { - "path": "G1edu-u3_basket_storage_apple_b", - "dataset_name": "basket_storage_apple_b", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" + "Galaxea_R1_Lite_storage_object_gray_plate": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "pick", - "place" + "language": [ + "en" ], - "tasks": "End", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Galaxea_R1_Lite_storage_object_gray_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": "table", - "level1": "furniture", - "level2": "table", + "object_name": "gray_plate", + "level1": "kitchen_supplies", + "level2": "gray_plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "home_storage", - "level2": "basket", + "object_name": "banana", + "level1": "fruits", + "level2": "banana", "level3": null, "level4": null, "level5": null }, { - "object_name": "apple", - "level1": "fruit", - "level2": "apple", + "object_name": "bathing_in_flowers", + "level1": "daily_necessities", + "level2": "bathing_in_flowers", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-118352", - "dataset_size": "2.3GB", - "statistics": { - "total_episodes": 241, - "total_frames": 118352, - "total_tasks": 1, - "total_videos": 723, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Place the grapes in the plate with left hand", - "Grasp the grapes with left hand", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_basket_storage_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_basket_storage_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_moving_parts_i": { - "path": "leju_robot_moving_parts_i", - "dataset_name": "moving_parts_i", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Move to the initial position of the workbench.", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "blue_cup", + "level1": "cups", + "level2": "blue_cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", + "object_name": "blue_pot", + "level1": "kitchen_supplies", + "level2": "blue_pot", "level3": null, "level4": null, "level5": null }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", + "object_name": "toast_slices", + "level1": "bread", + "level2": "toast_slices", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-229727", - "dataset_size": "14.0GB", - "statistics": { - "total_episodes": 155, - "total_frames": 229727, - "total_tasks": 1, - "total_videos": 465, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "c8b01b9f-9806-4a5a-a895-01df2cac436f", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Move to the initial position of the workbench.", - "Grasp the gray part with right gripper", - "Insert the small component into the corresponding slot on the workbench.", - "Move to the table behind body", - "Grasp the white part with right gripper", - "Place the gray part on the table with right gripper", - "Place the white part on the table with right gripper", - "End", - "Pick up the small component from the shelf.", - "Bring the small component to the front of the workbench.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_tableware_arrangement": { - "path": "R1_Lite_tableware_arrangement", - "dataset_name": "tableware_arrangement", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Put the chopsticks back from the plate", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "brown_towel", + "level1": "towels", + "level2": "brown_towel", "level3": null, "level4": null, "level5": null }, { - "object_name": "chopsticks", - "level1": "tableware", - "level2": "chopsticks", + "object_name": "can", + "level1": "snacks", + "level2": "can", "level3": null, "level4": null, "level5": null }, { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", + "object_name": "coke", + "level1": "beverages", + "level2": "coke", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "object_name": "potato_chips", + "level1": "snacks", + "level2": "potato_chips", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "chocolate", + "level1": "snacks", + "level2": "chocolate", "level3": null, "level4": null, "level5": null }, { - "object_name": "lunch_box", - "level1": "container", - "level2": "lunch_box", + "object_name": "compass", + "level1": "stationery", + "level2": "compass", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-16015", - "dataset_size": "628.5MB", - "statistics": { - "total_episodes": 8, - "total_frames": 16015, - "total_tasks": 1, - "total_videos": 24, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "85abe0d0-6c0a-432a-9dd0-14e2ca009399", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Put the chopsticks back from the plate", - "Put the bowl back from the plate", - "Put the spoon back from the bowl", - "Pick the chopsticks and place it on the plate", - "abnormal", - "Pick the bowl and place it on the plate", - "Pick the spoon and place it in the bowl", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_hotel_services_ad": { - "path": "leju_robot_hotel_services_ad", - "dataset_name": "hotel_services_ad", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "block_pillar", + "level1": "toys", + "level2": "block_pillar", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "egg_beater", + "level1": "kitchen_supplies", + "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { - "object_name": "card", - "level1": "nfc", - "level2": "card", + "object_name": "eraser", + "level1": "stationery", + "level2": "eraser", "level3": null, "level4": null, "level5": null }, { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", + "object_name": "chewing_gum", + "level1": "snacks", + "level2": "chewing_gum", + "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": "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_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 } ], - "operation_platform_height": null, - "frame_range": "0-73346", - "dataset_size": "4.7GB", - "statistics": { - "total_episodes": 430, - "total_frames": 73346, - "total_tasks": 1, - "total_videos": 1290, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "1bbfd926-a183-40a4-8649-0b9958b0ffcf", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "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 gray plate." ], "sub_tasks": [ - "End", - "Take out the room card with right gripper", - "Hand the room card to the guest with right gripper", - "Hand the room card to the target.", - "Pick up the room card from the card holder.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Agilex_Cobot_Magic_close_drawer_bottom": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "license": "apache-2.0", - "configs": [ { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } - ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + "subtask": "Place the tape on the gray plate with the left gripper", + "subtask_index": 0 }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_close_drawer_bottom", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "office_workspace", - "level2": "office", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", - "objects": [ { - "object_name": "table", - "level1": "home_storage", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the blue pot with the left gripper", + "subtask_index": 1 }, { - "object_name": "three_layer_transparent_drawer", - "level1": "laboratory_supplies", - "level2": "three_layer_transparent_drawer", - "level3": null, - "level4": null, - "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "close the bottom drawer." - ], - "sub_tasks": [ + "subtask": "Grasp the plugboard with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "Grasp the potato chips with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Grasp the banana with the left gripper", + "subtask_index": 4 + }, + { + "subtask": "Place the round wooden block on the gray plate with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "Place the peach on the gray plate with the left gripper", + "subtask_index": 6 + }, + { + "subtask": "Grasp the compasses with the right gripper", + "subtask_index": 7 + }, + { + "subtask": "Place the square chewing gum on the gray plate with the right gripper", + "subtask_index": 8 + }, + { + "subtask": "Place the compasses on the gray plate with the right gripper", + "subtask_index": 9 + }, + { + "subtask": "Place the potato chips on the gray plate with the right gripper", + "subtask_index": 10 + }, + { + "subtask": "Grasp the duck toy with the left gripper", + "subtask_index": 11 + }, + { + "subtask": "Place the green lemon on the gray plate with the right gripper", + "subtask_index": 12 + }, + { + "subtask": "Grasp the blue cup with the left gripper", + "subtask_index": 13 + }, + { + "subtask": "Place the square wooden block on the gray plate with the left gripper", + "subtask_index": 14 + }, + { + "subtask": "Grasp the soft facial cleanser with the left gripper", + "subtask_index": 15 + }, + { + "subtask": "Place the blue cup on the gray plate with the left 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": "Grasp the shower sphere with the left gripper", + "subtask_index": 19 + }, + { + "subtask": "Place the blackboard erasure on the gray plate with the right 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 brown towel with the left gripper", + "subtask_index": 23 + }, + { + "subtask": "Place the round bread on the gray plate with the right gripper", + "subtask_index": 24 + }, + { + "subtask": "Grasp the hard facial cleanser with the left gripper", + "subtask_index": 25 + }, + { + "subtask": "Place the shower sphere on the gray plate with the left gripper", + "subtask_index": 26 + }, + { + "subtask": "Grasp the chocolate with the right gripper", + "subtask_index": 27 + }, + { + "subtask": "Place the soft facial cleanser on the gray plate with the left gripper", + "subtask_index": 28 + }, + { + "subtask": "Grasp the peach with the right gripper", + "subtask_index": 29 + }, + { + "subtask": "Grasp the brown towel with the right gripper", + "subtask_index": 30 + }, + { + "subtask": "Place the shower sphere on the gray plate with the right gripper", + "subtask_index": 31 + }, + { + "subtask": "Grasp the back scratcher with the left gripper", + "subtask_index": 32 + }, + { + "subtask": "Place the square wooden block on the gray plate with the right gripper", + "subtask_index": 33 + }, + { + "subtask": "Place the blackboard erasure on the gray plate with the left gripper", + "subtask_index": 34 + }, + { + "subtask": "Place the yogurt on the gray plate with the right gripper", + "subtask_index": 35 + }, + { + "subtask": "Grasp the peach with the left gripper", + "subtask_index": 36 + }, + { + "subtask": "Place the coke on the gray plate with the left gripper", + "subtask_index": 37 + }, + { + "subtask": "Place the chocolate cake on the gray plate with the right gripper", + "subtask_index": 38 + }, + { + "subtask": "Place the banana on the gray plate with the left gripper", + "subtask_index": 39 + }, + { + "subtask": "Grasp the green lemon with the right gripper", + "subtask_index": 40 + }, + { + "subtask": "Grasp the bread slice with the right gripper", + "subtask_index": 41 + }, + { + "subtask": "Place the bread slice on the gray plate with the right gripper", + "subtask_index": 42 + }, + { + "subtask": "Place the brown towel on the gray plate with the right gripper", + "subtask_index": 43 + }, + { + "subtask": "Grasp the potato chips with the left gripper", + "subtask_index": 44 + }, + { + "subtask": "Grasp the duck toy with the right gripper", + "subtask_index": 45 + }, { "subtask": "End", - "subtask_index": 0 + "subtask_index": 46 }, { - "subtask": "Use the right gripper to contact the bottom layer of the storage cabinet", - "subtask_index": 1 + "subtask": "Grasp the blackboard erasure with the left gripper", + "subtask_index": 47 }, { - "subtask": "Push the bottom drawer closed", - "subtask_index": 2 + "subtask": "Grasp the coke with the left gripper", + "subtask_index": 48 + }, + { + "subtask": "Place the plugboard on the gray plate with the right gripper", + "subtask_index": 49 + }, + { + "subtask": "Place the round bread on the gray plate with the left gripper", + "subtask_index": 50 + }, + { + "subtask": "Grasp the round wooden block with the left gripper", + "subtask_index": 51 + }, + { + "subtask": "Grasp the compasses with the left gripper", + "subtask_index": 52 + }, + { + "subtask": "Place the round wooden block on the gray plate with the right gripper", + "subtask_index": 53 + }, + { + "subtask": "Place the blue pot on the gray plate with the left gripper", + "subtask_index": 54 + }, + { + "subtask": "Grasp the blue pot with the right gripper", + "subtask_index": 55 + }, + { + "subtask": "Grasp the round bread with the right gripper", + "subtask_index": 56 + }, + { + "subtask": "Grasp the chocolate cake with the left gripper", + "subtask_index": 57 + }, + { + "subtask": "Place the brown towel on the gray plate with the left gripper", + "subtask_index": 58 + }, + { + "subtask": "Place the blue pot on the gray plate with the right gripper", + "subtask_index": 59 + }, + { + "subtask": "Place the compasses on the gray plate with the left gripper", + "subtask_index": 60 + }, + { + "subtask": "Place the coke on the gray plate with the right gripper", + "subtask_index": 61 + }, + { + "subtask": "Grasp the tin with the right gripper", + "subtask_index": 62 + }, + { + "subtask": "Place the square chewing gum on the gray plate with the left gripper", + "subtask_index": 63 + }, + { + "subtask": "Place the back scratcher on the gray plate with the left gripper", + "subtask_index": 64 + }, + { + "subtask": "Grasp the tape with the right gripper", + "subtask_index": 65 + }, + { + "subtask": "Place the tin on the gray plate 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": "Grasp the square chewing gum with the right gripper", + "subtask_index": 69 + }, + { + "subtask": "Place the tape on the gray plate with the right gripper", + "subtask_index": 70 + }, + { + "subtask": "Place the hard facial cleanser on the gray plate with the left gripper", + "subtask_index": 71 + }, + { + "subtask": "Grasp the shower sphere with the right gripper", + "subtask_index": 72 + }, + { + "subtask": "Place the duck toy on the gray plate with the right gripper", + "subtask_index": 73 + }, + { + "subtask": "Grasp the bread slice with the left gripper", + "subtask_index": 74 + }, + { + "subtask": "Place the chocolate on the gray plate with the right gripper", + "subtask_index": 75 + }, + { + "subtask": "Grasp the blackboard erasure with the right gripper", + "subtask_index": 76 + }, + { + "subtask": "Place the banana on the gray plate with the right gripper", + "subtask_index": 77 + }, + { + "subtask": "Place the peach on the gray plate with the right gripper", + "subtask_index": 78 + }, + { + "subtask": "Grasp the round bread with the left gripper", + "subtask_index": 79 + }, + { + "subtask": "Grasp the square wooden block with the left gripper", + "subtask_index": 80 + }, + { + "subtask": "Grasp the blue cup with the right gripper", + "subtask_index": 81 + }, + { + "subtask": "Place the chocolate cake on the gray plate with the left gripper", + "subtask_index": 82 + }, + { + "subtask": "Place the duck toy on the gray plate with the left gripper", + "subtask_index": 83 + }, + { + "subtask": "Grasp the square wooden block with the right gripper", + "subtask_index": 84 + }, + { + "subtask": "Place the plugboard on the gray plate with the left gripper", + "subtask_index": 85 + }, + { + "subtask": "Place the bread slice on the gray plate with the left gripper", + "subtask_index": 86 + }, + { + "subtask": "Grasp the round wooden block with the right gripper", + "subtask_index": 87 + }, + { + "subtask": "Place the potato chips on the gray plate with the left gripper", + "subtask_index": 88 + }, + { + "subtask": "Grasp the banana with the right gripper", + "subtask_index": 89 + }, + { + "subtask": "Place the blue cup on the gray plate with the right gripper", + "subtask_index": 90 }, { "subtask": "null", - "subtask_index": 3 + "subtask_index": 91 } ], "atomic_actions": [ "grasp", - "push" + "pick", + "place" ], "robot_name": [ - "Agilex_Cobot_Magic" + "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_rgb", + "cam_head_left_rgb", + "cam_head_right_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" + "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": "radian", - "end_translation_dim": "meter", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -26097,30 +22547,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 50, - "total_frames": 16270, + "total_episodes": 102, + "total_frames": 20357, "fps": 30, - "total_tasks": 4, - "total_videos": 150, + "total_tasks": 92, + "total_videos": 408, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "157.62 MB" + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "786.26 MB" }, - "frame_num": 16270, - "dataset_size": "157.62 MB", - "data_structure": "Agilex_Cobot_Magic_close_drawer_bottom_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 20357, + "dataset_size": "786.26 MB", + "data_structure": "Galaxea_R1_Lite_storage_object_gray_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| `-- ... (90 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:49" + "train": "0:101" }, "features": { - "observation.images.cam_head_rgb": { + "observation.images.cam_head_left_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -26129,8 +22579,31 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "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, @@ -26142,8 +22615,8 @@ "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -26152,8 +22625,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -26165,8 +22638,8 @@ "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -26175,8 +22648,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -26188,7 +22661,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 26 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -26197,32 +22670,20 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_gripper_open", + "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ - 26 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -26231,26 +22692,14 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_gripper_open", + "right_gripper_open" ] }, "timestamp": { @@ -26290,17 +22739,17 @@ }, "subtask_annotation": { "names": null, - "dtype": "int32", "shape": [ 5 - ] + ], + "dtype": "int32" }, "scene_annotation": { "names": null, - "dtype": "int32", "shape": [ 1 - ] + ], + "dtype": "int32" }, "eef_sim_pose_state": { "names": [ @@ -26317,10 +22766,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_sim_pose_action": { "names": [ @@ -26337,130 +22786,130 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "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" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "gripper_mode_action": { "names": [ "left_gripper_mode", "right_gripper_mode" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "gripper_activity_state": { "names": [ "left_gripper_activity", "right_gripper_activity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "gripper_activity_action": { "names": [ "left_gripper_activity", "right_gripper_activity" ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", "shape": [ 2 - ] - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" ], - "dtype": "float32", - "shape": [ - 2 - ] + "dtype": "int32" } }, "authors": { @@ -26482,758 +22931,111 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "G1edu-u3_pick_metal_bowl_ab": { - "path": "G1edu-u3_pick_metal_bowl_ab", - "dataset_name": "pick_metal_bowl_ab", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick" - ], - "tasks": "Grasp the metal bowl and lift it to the center of the view with left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "metal_bowl", - "level1": "bowl", - "level2": "metal_bowl", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-11322", - "dataset_size": "158.4MB", - "statistics": { - "total_episodes": 36, - "total_frames": 11322, - "total_tasks": 1, - "total_videos": 36, - "total_chunks": 1, - "chunks_size": 37, - "fps": 30 - }, - "dataset_uuid": "988d81c9-a23a-4a67-9613-aed7fcecf7e3", - "language": [ - "en", - "zh" - ], + "Airbot_MMK2_move_fake_food": { "task_categories": [ "robotics" ], - "sub_tasks": [ - "Grasp the metal bowl and lift it to the center of the view with left gripper", - "End", - "Grasp the metal bowl and lift it to the center of the view with right gripper", - "null" + "language": [ + "en" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_remove_the_accessory": { - "path": "AgiBot-g1_remove_the_accessory", - "dataset_name": "remove_the_accessory", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Place the hard drive bracket into the box.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, + "license": "apache-2.0", + "configs": [ { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_move_fake_food", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "living_room", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ { - "object_name": "accessories", - "level1": "industrial_parts", - "level2": "accessories", + "object_name": "early_education_toys", + "level1": "toys", + "level2": "early_education_toys", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-27353", - "dataset_size": "14.8GB", - "statistics": { - "total_episodes": 68, - "total_frames": 27353, - "total_tasks": 1, - "total_videos": 544, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "fcba76dc-2672-4dc1-9b8e-b375ede64077", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "put the toy food on the toy table with your right hand." ], "sub_tasks": [ - "Place the hard drive bracket into the box.", - "Pick up the hard drive bracket from the feeding area.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_box_storage_parcel_g": { - "path": "leju_robot_box_storage_parcel_g", - "dataset_name": "box_storage_parcel_g", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the package into the parcel locker.", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 0 }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the small bowl of canned food with right gripper", + "subtask_index": 1 }, { - "object_name": "parcel", - "level1": "container", - "level2": "parcel", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the small bowl of canned food on the table with the right gripper", + "subtask_index": 2 }, { - "object_name": "conveyor_belt", - "level1": "industrial_equipment", - "level2": "conveyor_belt", - "level3": null, - "level4": null, - "level5": null + "subtask": "Abnormal", + "subtask_index": 3 + }, + { + "subtask": "null", + "subtask_index": 4 } ], - "operation_platform_height": null, - "frame_range": "0-182793", - "dataset_size": "9.4GB", - "statistics": { - "total_episodes": 492, - "total_frames": 182793, - "total_tasks": 1, - "total_videos": 1476, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "1b130f08-2c4e-4724-ad03-8ecda43684fd", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the package into the parcel locker.", - "Pick up the package from the inbound machine.", - "Pick up the package from the conveyor belt.", - "Place the package onto the inbound machine.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_place_the_small_bowl_of_canned_food": { - "path": "AIRBOT_MMK2_place_the_small_bowl_of_canned_food", - "dataset_name": "place_the_small_bowl_of_canned_food", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], "atomic_actions": [ "grasp", "pick", "place" ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "mini_table", - "level1": "furniture", - "level2": "mini_table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "small_bowl_of_canned_food", - "level1": "food", - "level2": "small_bowl_of_canned_food", - "level3": null, - "level4": null, - "level5": null - } + "robot_name": [ + "Airbot_MMK2" ], - "operation_platform_height": 77.2, - "frame_range": "0-7610", - "dataset_size": "313.5MB", - "statistics": { - "total_episodes": 50, - "total_frames": 7610, - "total_tasks": 1, - "total_videos": 200, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "a9c7e711-c375-4aa9-8ce2-93c6f016b80d", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Abnormal", - "Place the small bowl of canned food on the table with the right gripper", - "Grasp the small bowl of canned food with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_pullBowl_storage_bread_unordered_a": { - "path": "G1edu-u3_pullBowl_storage_bread_unordered_a", - "dataset_name": "pullBowl_storage_bread_unordered_a", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Abnormal", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "towel", - "level1": "daily_necessities", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-158699", - "dataset_size": "3.3GB", - "statistics": { - "total_episodes": 188, - "total_frames": 158699, - "total_tasks": 1, - "total_videos": 564, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a49", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Abnormal", - "Place the long bread in pink bowl with left hand", - "End", - "Grasp the round bread with left hand", - "Grasp the long bread with left hand", - "Place the round bread in pink bowl with left hand", - "Move the pink bowl to the center of table with right hand", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_pick_crumpled_paper_aa": { - "path": "G1edu-u3_pick_crumpled_paper_aa", - "dataset_name": "pick_crumpled_paper_aa", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "paper", - "level1": "rubbish", - "level2": "paper", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-4485", - "dataset_size": "58.9MB", - "statistics": { - "total_episodes": 13, - "total_frames": 4485, - "total_tasks": 1, - "total_videos": 13, - "total_chunks": 1, - "chunks_size": 13, - "fps": 30 - }, - "dataset_uuid": "b6576ff7-68ba-498d-a50c-c97bad67554e", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Grasp the paper ball and lift it to the center of the view with right gripper  ", - "Grasp the paper ball and lift it to the center of the view with left gripper ", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Agilex_Cobot_Magic_erase_board_left_side": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } - ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_erase_board_left_side", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "education", - "level2": "school", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", - "objects": [ - { - "object_name": "table", - "level1": "home_storage", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "whiteboard", - "level1": "stationery", - "level2": "whiteboard", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "red_whiteboard_Eraser", - "level1": "stationery", - "level2": "red_whiteboard_Eraser", - "level3": null, - "level4": null, - "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "wipe off the handwriting on the whiteboard." - ], - "sub_tasks": [ - { - "subtask": "Place the eraser with the left gripper", - "subtask_index": 0 - }, - { - "subtask": "Grasp the eraser with the left gripper", - "subtask_index": 1 - }, - { - "subtask": "End", - "subtask_index": 2 - }, - { - "subtask": "Grasp the eraser and wipe the blackboard with the right gripper", - "subtask_index": 3 - }, - { - "subtask": "Place the eraser with the right gripper", - "subtask_index": 4 - }, - { - "subtask": "Grasp the eraser with the right gripper", - "subtask_index": 5 - }, - { - "subtask": "Grasp the eraser and wipe the blackboard with the left gripper", - "subtask_index": 6 - }, - { - "subtask": "null", - "subtask_index": 7 - } - ], - "atomic_actions": [ - "grasp", - "lift", - "lower", - "wipe" - ], - "robot_name": [ - "Agilex_Cobot_Magic" - ], - "end_effector_type": "two_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" ], "came_info": { "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "radian", - "end_translation_dim": "meter", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -27244,23 +23046,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 101, - "total_frames": 51478, + "total_episodes": 50, + "total_frames": 7610, "fps": 30, - "total_tasks": 8, - "total_videos": 303, + "total_tasks": 5, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "490.77 MB" + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "313.62 MB" }, - "frame_num": 51478, - "dataset_size": "490.77 MB", - "data_structure": "Agilex_Cobot_Magic_erase_board_left_side_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (89 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 7610, + "dataset_size": "313.62 MB", + "data_structure": "Airbot_MMK2_move_fake_food_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", "splits": { - "train": "0:100" + "train": "0:49" }, "features": { "observation.images.cam_head_rgb": { @@ -27332,10 +23134,33 @@ "has_audio": false } }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, "observation.state": { "dtype": "float32", "shape": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -27344,32 +23169,42 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" ] }, "action": { "dtype": "float32", "shape": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -27378,26 +23213,36 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" ] }, "timestamp": { @@ -27437,17 +23282,17 @@ }, "subtask_annotation": { "names": null, - "dtype": "int32", "shape": [ 5 - ] + ], + "dtype": "int32" }, "scene_annotation": { "names": null, - "dtype": "int32", "shape": [ 1 - ] + ], + "dtype": "int32" }, "eef_sim_pose_state": { "names": [ @@ -27464,10 +23309,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_sim_pose_action": { "names": [ @@ -27484,130 +23329,70 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", "shape": [ 2 - ] - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" ], - "dtype": "float32", - "shape": [ - 2 - ] + "dtype": "int32" } }, "authors": { @@ -27629,533 +23414,349 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Agilex_Cobot_Magic_storage_bread_basket": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" + "Galbot_g1_steamer_storage_baozi_h": { + "path": "Galbot_g1_steamer_storage_baozi_h", + "dataset_name": "steamer_storage_baozi_h", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_storage_bread_basket", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "household", - "level2": "living_room", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "tasks": "End", "objects": [ { "object_name": "table", - "level1": "home_storage", + "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "small_yellow _basket", - "level1": "home_storage", - "level2": "small_yellow _basket", + "object_name": "baozi", + "level1": "food", + "level2": "baozi", "level3": null, "level4": null, "level5": null }, { - "object_name": "waffle", - "level1": "food", - "level2": "waffle", + "object_name": "steamer", + "level1": "cookware", + "level2": "steamer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pot_lid", + "level1": "daily_necessities", + "level2": "pot_lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "Put the bakery in the basket." + "operation_platform_height": null, + "frame_range": "0-979757", + "dataset_size": "18.2GB", + "statistics": { + "total_episodes": 996, + "total_frames": 979757, + "total_tasks": 1, + "total_videos": 2988, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "23188104-2751-4169-b13b-286381a44645", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" ], "sub_tasks": [ + "End", + "Place the baozi on the steamer with right gripper", + "Place the pot lid on the steamer with left gripper", + "Grasp the pot lid with left gripper", + "Grasp the baozi in the plate with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Galbot_g1_steamer_storage_baozi_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_pass_the_cleaner_b": { + "path": "leju_robot_pass_the_cleaner_b", + "dataset_name": "pass_the_cleaner_b", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Turn the bottle to the front side.", + "objects": [ { - "subtask": "Abnormal", - "subtask_index": 0 - }, - { - "subtask": "Grasp the bread with right gripper", - "subtask_index": 1 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "End", - "subtask_index": 2 - }, + "object_name": "cleaner", + "level1": "daily_necessities", + "level2": "cleaner", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-164222", + "dataset_size": "8.5GB", + "statistics": { + "total_episodes": 441, + "total_frames": 164222, + "total_tasks": 1, + "total_videos": 1323, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ceb2e30d-5b33-4f0f-b9e0-a88ee69d8e21", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Turn the bottle to the front side.", + "Pick up the bottle from the table.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_pass_the_cleaner_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_pass_the_cleaner_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_place_the_test_tube": { + "path": "Cobot_Magic_place_the_test_tube", + "dataset_name": "place_the_test_tube", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the test tubes on the test tube rack with the right gripper", + "objects": [ { - "subtask": "Grasp the bread with left gripper", - "subtask_index": 3 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the bread in the basket with right gripper", - "subtask_index": 4 + "object_name": "test_tube", + "level1": "tool", + "level2": "test_tube", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the bread in the basket with left gripper", - "subtask_index": 5 + "object_name": "test_tube_rack", + "level1": "tool", + "level2": "test_tube_rack", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 6 + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null } ], - "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" - ], + "operation_platform_height": 77.2, + "frame_range": "0-308346", + "dataset_size": "6.0GB", "statistics": { - "total_episodes": 98, - "total_frames": 32042, - "fps": 30, - "total_tasks": 7, - "total_videos": 294, + "total_episodes": 364, + "total_frames": 308346, + "total_tasks": 6, + "total_videos": 1092, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "354.51 MB" + "fps": 50 }, - "frame_num": 32042, - "dataset_size": "354.51 MB", - "data_structure": "Agilex_Cobot_Magic_storage_bread_basket_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (86 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", - "splits": { - "train": "0:97" + "dataset_uuid": "070ad40e-7f20-4d3e-82d6-9cb8c0fb1f74", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the test tubes on the test tube rack with the right gripper", + "Lift the test tube with the left hand.", + "End", + "Pass the test tube from the left gripper to the right gripper", + "Pick up the test tubes from the table", + "Place the test tubes on the rack", + "Hand over the test tubes", + "Grab the test tube with the left hand.", + "Receive the test tube with the right hand.", + "Pick up the test tube with the left gripper", + "Insert it into the hole at the intersection of the 5th row from the top and the 5th column from the left with the right hand.", + "abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, - "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 + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } - }, - "observation.images.cam_left_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.state": { - "dtype": "float32", - "shape": [ - 26 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" - ] - }, - "action": { - "dtype": "float32", - "shape": [ - 26 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" - ] - }, - "timestamp": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": null - }, - "frame_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "episode_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "task_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "subtask_annotation": { - "names": null, - "shape": [ - 5 - ], - "dtype": "int32" - }, - "scene_annotation": { - "names": null, - "shape": [ - 1 - ], - "dtype": "int32" - }, - "eef_sim_pose_state": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" - }, - "eef_sim_pose_action": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" - }, - "eef_direction_state": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_direction_action": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_velocity_state": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_velocity_action": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_acc_mag_state": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_acc_mag_action": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", - "shape": [ - 2 - ] - } - }, - "authors": { - "contributed_by": [ + ], + "annotated_by": [ { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } ] }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_place_the_test_tube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_place_the_test_tube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "alpha_bot_2_item_reversal": { - "path": "alpha_bot_2_item_reversal", - "dataset_name": "item_reversal", + "Galbot_g1_fold_clothe_c": { + "path": "Galbot_g1_fold_clothe_c", + "dataset_name": "fold_clothe_c", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -28164,9 +23765,10 @@ "atomic_actions": [ "grasp", "pick", - "place" + "place", + "flod" ], - "tasks": "Grasp the cup with left gripper", + "tasks": "Abnormal", "objects": [ { "object_name": "table", @@ -28177,27 +23779,27 @@ "level5": null }, { - "object_name": "cup", - "level1": "kitchen_supplies", - "level2": "cup", + "object_name": "clothes", + "level1": "fabric", + "level2": "clothes", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-82235", - "dataset_size": "2.1GB", + "frame_range": "0-516810", + "dataset_size": "22.3GB", "statistics": { - "total_episodes": 90, - "total_frames": 82235, + "total_episodes": 666, + "total_frames": 516810, "total_tasks": 1, - "total_videos": 360, + "total_videos": 1998, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "aac569d8-dbc7-4128-a573-659adbe0ed51", + "dataset_uuid": "9c9c15eb-08d9-4119-b551-ce2439643f0f", "language": [ "en", "zh" @@ -28206,10 +23808,17 @@ "robotics" ], "sub_tasks": [ - "Grasp the cup with left gripper", - "Place the cup on the table with right gripper", - "Pass the cup to the right gripper", + "Abnormal", + "use the left gripper to clamp the left edge of the fabric", + "Drag the clothes to the center of the table", "End", + "use both grippers simultaneously to clamp the upper edge of the clothing fabric", + "use both grippers to drag the lower edge of the fabric forward and fold it over the upper edge", + "use both grippers to drag the upper edge of the fabric backward and fold it over the lower edge", + "use both grippers simultaneously to clamp the lower edge of the clothing fabric", + "Drag the clothes downward with both gripper", + "use the left gripper to drag the left edge of the fabric to the left and folds it over the right edge", + "Flip the folded clothes over with left gripper", "null" ], "annotations": { @@ -28247,12 +23856,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "alpha_bot_2_item_reversal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "alpha_bot_2_item_reversal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Galbot_g1_fold_clothe_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Galbot_g1_fold_clothe_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_steamer_storage_dumpling": { - "path": "Cobot_Magic_steamer_storage_dumpling", - "dataset_name": "steamer_storage_dumpling", + "R1_Lite_open_the_food_pan": { + "path": "R1_Lite_open_the_food_pan", + "dataset_name": "open_the_food_pan", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -28263,7 +23872,7 @@ "pick", "place" ], - "tasks": "use the left arm to put the dumpling into the steamer", + "tasks": "Hold the pot lid with the right arm", "objects": [ { "object_name": "table", @@ -28274,43 +23883,27 @@ "level5": null }, { - "object_name": "dumplings", - "level1": "food", - "level2": "dumplings", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "steamer", + "object_name": "pan", "level1": "container", - "level2": "steamer", + "level2": "pan", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-417589", - "dataset_size": "19.8GB", + "operation_platform_height": null, + "frame_range": "0-74981", + "dataset_size": "2.6GB", "statistics": { - "total_episodes": 580, - "total_frames": 417589, - "total_tasks": 6, - "total_videos": 1740, + "total_episodes": 94, + "total_frames": 74981, + "total_tasks": 1, + "total_videos": 282, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5", + "dataset_uuid": "41f586d5-51f7-456a-b30f-ca5a7e7555c2", "language": [ "en", "zh" @@ -28319,16 +23912,12 @@ "robotics" ], "sub_tasks": [ - "use the left arm to put the dumpling into the steamer", - "Abnormal", - "use the right arm to put the dumpling into the steamer", - "Grasp the dumpling with left gripper", - "End", - "Place the dumpling on the steamer with right gripper", - "use the left arm to grab a dumpling", - "Grasp the dumpling with right gripper", - "use the right arm to grab a dumpling", - "Place the dumpling on the steamer with left gripper", + "Hold the pot lid with the right arm", + "Close the pot lid", + "Open the pot lid completely", + "Hold the pot lid with the left arm", + "Open the food pot lid a small opening with the right arm", + "Open the food pot lid a small opening with the left arm", "null" ], "annotations": { @@ -28366,23 +23955,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_open_the_food_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_open_the_food_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_plate_storaje_baozi": { - "path": "Cobot_Magic_plate_storaje_baozi", - "dataset_name": "plate_storaje_baozi", + "leju_robot_pass_the_cleaner_e": { + "path": "leju_robot_pass_the_cleaner_e", + "dataset_name": "pass_the_cleaner_e", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "Grasp the baozi on the steamer with left gripper", + "tasks": "Turn the bottle to the front side.", "objects": [ { "object_name": "table", @@ -28393,43 +23982,27 @@ "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "baozi", - "level1": "food", - "level2": "baozi", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "steamer", - "level1": "container", - "level2": "steamer", + "object_name": "cleaner", + "level1": "daily_necessities", + "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-261093", - "dataset_size": "12.3GB", + "frame_range": "0-165558", + "dataset_size": "8.6GB", "statistics": { - "total_episodes": 495, - "total_frames": 261093, - "total_tasks": 6, - "total_videos": 1485, + "total_episodes": 430, + "total_frames": 165558, + "total_tasks": 1, + "total_videos": 1290, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "749fc774-003a-487c-948b-b6fc7ad307e1", + "dataset_uuid": "5857e16d-9974-4991-a27c-549f3ba35f03", "language": [ "en", "zh" @@ -28438,22 +24011,8 @@ "robotics" ], "sub_tasks": [ - "Grasp the baozi on the steamer with left gripper", - "Abnormal", - "Place the yellow baozi on the plate with left gripper", - "Place the yellow baozi on the plate with right gripper", - "End", - "Grasp the dumpling with left gripper", - "use the left arm to grab the steamed stuffed bun that is closest to it", - "use the right arm to grab the steamed stuffed bun that is closest to it", - "use the right arm to put the steamed stuffed bun into the plate", - "Place the baozi on the plate with left gripper", - "Grasp the yellow baozi on the steamer with left gripper", - "use the left arm to put the steamed stuffed bun into the plate", - "Place the dumpling on the steamer with right gripper", - "Grasp the dumpling with right gripper", - "Grasp the yellow baozi on the steamer with right gripper", - "Place the dumpling on the steamer with left gripper", + "Turn the bottle to the front side.", + "Pick up the bottle from the table.", "null" ], "annotations": { @@ -28491,23 +24050,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_pass_the_cleaner_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_pass_the_cleaner_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_move_the_position_of_the_milk": { - "path": "R1_Lite_move_the_position_of_the_milk", - "dataset_name": "move_the_position_of_the_milk", + "RMC-AIDA-L_basket_storage_orange": { + "path": "RMC-AIDA-L_basket_storage_orange", + "dataset_name": "basket_storage_orange", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "place", + "grasp", "pick", - "grasp" + "place" ], - "tasks": "Grasp the wangzai milk with left gripper", + "tasks": "Place the dark basket in the center of view with the right gripper", "objects": [ { "object_name": "table", @@ -28517,118 +24076,6 @@ "level4": null, "level5": null }, - { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bath_ball", - "level1": "daily_necessities", - "level2": "bath_ball", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "can", - "level1": "container", - "level2": "can", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "hard_cleanser", - "level1": "daily_necessities", - "level2": "hard_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peeler", - "level1": "tool", - "level2": "peeler", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "block", - "level1": "toy", - "level2": "block", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "duck", - "level1": "toy", - "level2": "duck", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soap", - "level1": "daily_necessities", - "level2": "soap", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, { "object_name": "basket", "level1": "container", @@ -28637,38 +24084,6 @@ "level4": null, "level5": null }, - { - "object_name": "cola", - "level1": "drink", - "level2": "cola", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "detergent", - "level1": "daily_necessities", - "level2": "detergent", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_beater", - "level1": "electrical_appliances", - "level2": "egg_beater", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null - }, { "object_name": "orange", "level1": "fruit", @@ -28676,197 +24091,21 @@ "level3": null, "level4": null, "level5": null - }, - { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "marker", - "level1": "office_supplies", - "level2": "marker", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rubiks_cube", - "level1": "toy", - "level2": "rubiks_cube", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread_slice", - "level1": "food", - "level2": "bread_slice", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "brush", - "level1": "daily_necessities", - "level2": "brush", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yogurt", - "level1": "drink", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "power_strip", - "level1": "electric_appliance", - "level2": "power_strip", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "milk", - "level1": "drink", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soda", - "level1": "drink", - "level2": "soda", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lime", - "level1": "fruit", - "level2": "lime", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "coffee_capsule", - "level1": "drink", - "level2": "coffee_capsule", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "dish", - "level1": "container", - "level2": "dish", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glass", - "level1": "furniture", - "level2": "glass", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "gum", - "level1": "daily_necessities", - "level2": "gum", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tape", - "level1": "daily_necessities", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soft_cleanser", - "level1": "daily_necessities", - "level2": "soft_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chips", - "level1": "food", - "level2": "chips", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", - "level3": null, - "level4": null, - "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-12898", - "dataset_size": "421.8MB", + "frame_range": "0-112423", + "dataset_size": "1.1GB", "statistics": { - "total_episodes": 59, - "total_frames": 12898, - "total_tasks": 1, - "total_videos": 236, + "total_episodes": 356, + "total_frames": 112423, + "total_tasks": 4, + "total_videos": 1068, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "945013f7-9a63-4c59-af10-4ad4df23d67f", + "dataset_uuid": "f96c79dc-15ee-43ed-8c21-1e898a816ee6", "language": [ "en", "zh" @@ -28875,13 +24114,21 @@ "robotics" ], "sub_tasks": [ - "Grasp the wangzai milk with left gripper", - "Place the wangzai milk on the table with right gripper", - "Static", - "Place the wangzai milk on the table with left gripper", - "Grasp the wangzai milk with right gripper", - "End", - "Abnormal", + "Place the dark basket in the center of view with the right gripper", + "Place the light basket in the center of view with the right gripper", + "Place the orange into the dark basket with the left gripper", + "Place the dark basket in the center of view with the left gripper", + "end", + "Place the orange into the light basket with the left gripper", + "Pick up the light basket with the right gripper", + "Place the orange into the light basket with the right gripper", + "Pick up the orange with the right gripper", + "Place the light basket in the center of view with the left gripper", + "Pick up the dark basket with the left gripper", + "Pick up the light basket with the left gripper", + "Pick up the dark basket with the right gripper", + "Pick up the orange with the left gripper", + "Place the orange into the dark basket with the right gripper", "null" ], "annotations": { @@ -28919,70 +24166,79 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_milk_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_milk_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_basket_storage_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_basket_storage_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_place_the_dress_shirt_on_the_hanger": { - "path": "R1_Lite_place_the_dress_shirt_on_the_hanger", - "dataset_name": "place_the_dress_shirt_on_the_hanger", + "Split_aloha_scoop_coffee_beans": { + "path": "Split_aloha_scoop_coffee_beans", + "dataset_name": "scoop_coffee_beans", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ + "scoop", "grasp", "pick", "place" ], - "tasks": "abnormal", + "tasks": "Place the spoon back in its original place", "objects": [ { - "object_name": "hanger", + "object_name": "table", "level1": "furniture", - "level2": "hanger", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "shirt", - "level1": "clothing", - "level2": "shirt", + "object_name": "cup", + "level1": "container", + "level2": "cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", + "object_name": "cup_lid", "level1": "container", - "level2": "plate", + "level2": "cup_lid", "level3": null, "level4": null, "level5": null }, { - "object_name": "bed", - "level1": "furniture", - "level2": "bed", + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee_beans", + "level1": "food", + "level2": "coffee_beans", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-120516", - "dataset_size": "7.1GB", + "operation_platform_height": 77.2, + "frame_range": "0-409440", + "dataset_size": "3.8GB", "statistics": { - "total_episodes": 103, - "total_frames": 120516, - "total_tasks": 1, - "total_videos": 309, + "total_episodes": 499, + "total_frames": 409440, + "total_tasks": 8, + "total_videos": 1497, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "99bbe00a-c986-419f-b64a-51eef829a3b8", + "dataset_uuid": "643f286d-7021-4fb1-8c63-aecd24fb763e", "language": [ "en", "zh" @@ -28991,12 +24247,11 @@ "robotics" ], "sub_tasks": [ + "Place the spoon back in its original place", + "Move the cup to the center of view", + "Pick up the spoon", + "Scoop a spoonful of beans into the cup", "abnormal", - "Hook the other side of the shirt onto the hanger", - "Hook one side of the shirt onto the hanger", - "Lift the shirt and hanger", - "Take the clothes hanger out of the clothes", - "Place the hanger on the bed", "null" ], "annotations": { @@ -29034,12 +24289,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Split_aloha_scoop_coffee_beans_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_scoop_coffee_beans_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_take_and_put_away_garden_stuff_a": { - "path": "R1_Lite_take_and_put_away_garden_stuff_a", - "dataset_name": "take_and_put_away_garden_stuff_a", + "R1_Lite_put_on_a_garbage_bag": { + "path": "R1_Lite_put_on_a_garbage_bag", + "dataset_name": "put_on_a_garbage_bag", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -29048,98 +24303,170 @@ "atomic_actions": [ "grasp", "pick", - "place", - "pull", - "push" + "place" ], - "tasks": "Grasp the apple and place it on the table with right gripper", + "tasks": "Abnormal", "objects": [ { - "object_name": "refrigerator", - "level1": "furniture", - "level2": "refrigerator", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "drawer", + "object_name": "trash_bag", "level1": "container", - "level2": "drawer", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "level2": "trash_bag", "level3": null, "level4": null, "level5": null }, { - "object_name": "tray", + "object_name": "trash_can", "level1": "container", - "level2": "tray", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "potato", - "level1": "food", - "level2": "potato", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "green_pepper", - "level1": "food", - "level2": "green_pepper", + "level2": "trash_can", "level3": null, "level4": null, "level5": null }, { - "object_name": "pumpkin", - "level1": "food", - "level2": "pumpkin", + "object_name": "trash_can_ring", + "level1": "daily_necessities", + "level2": "trash_can_ring", "level3": null, "level4": null, "level5": null - }, - { - "object_name": "apple", - "level1": "food", - "level2": "apple", + } + ], + "operation_platform_height": null, + "frame_range": "0-252689", + "dataset_size": "11.0GB", + "statistics": { + "total_episodes": 133, + "total_frames": 252689, + "total_tasks": 1, + "total_videos": 399, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "c689a888-c8c9-4a05-a250-680b40218803", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Abnormal", + "End", + "Grasp a new trash bag with the right gripper", + "put the new garbage bag on the trash can", + "Place the trash can ring on the trash can with the right gripper", + "Pick up the trash bag", + "Grasp the trash bag with the right gripper", + "place the trash can ring on the floor with right gripper", + "Place the trash bag on the floor with the right gripper", + "Place the trash can ring on the floor", + "Pick up a new trash bag", + "Place the trash can ring on the trash can", + "Place the trash bag on the floor", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_put_on_a_garbage_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_put_on_a_garbage_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_hotel_services_f": { + "path": "leju_robot_hotel_services_f", + "dataset_name": "hotel_services_f", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Hand the room key to the person.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "orange", - "level1": "food", - "level2": "orange", + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "card", + "level1": "nfc", + "level2": "card", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-355644", - "dataset_size": "15.9GB", + "frame_range": "0-95863", + "dataset_size": "6.3GB", "statistics": { - "total_episodes": 148, - "total_frames": 355644, + "total_episodes": 135, + "total_frames": 95863, "total_tasks": 1, - "total_videos": 444, + "total_videos": 405, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "7c763184-bc85-4d7e-b01b-85ba85cbb6f2", + "dataset_uuid": "9c2a5a4c-c510-4e80-983e-593589a8eec6", "language": [ "en", "zh" @@ -29148,39 +24475,142 @@ "robotics" ], "sub_tasks": [ - "Grasp the apple and place it on the table with right gripper", - "Place the green bell pepper in the lower drawer with right gripper", - "Put green pepper in the refrigerator drawer", - "Place the orange in the lower drawer with right gripper", - "Place the potato in the lower drawer with left gripper", - "Take out the potato and place it on the table", - "Open the refrigerator door with left gripper", - "Place the potato in the lower drawer with right gripper", - "Take out the apple and place it on the tray", - "Open the refrigerator door", + "Hand the room key to the person.", + "Place the ID card on the card reader.", + "Take the ID card from the person's hand.", + "Pick up the room key from the key card box.", + "Hand the ID card to the person.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_hotel_services_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_pullBowl_storage_bread_unordered_C": { + "path": "G1edu-u3_pullBowl_storage_bread_unordered_C", + "dataset_name": "pullBowl_storage_bread_unordered_C", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the long bread in pink bowl with left hand", + "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": "plate", + "level1": "kitchen_supplies", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "bowl", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "donut", + "level1": "food", + "level2": "donut", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cake", + "level1": "bread", + "level2": "cake", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-110085", + "dataset_size": "2.2GB", + "statistics": { + "total_episodes": 190, + "total_frames": 110085, + "total_tasks": 1, + "total_videos": 570, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a51", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the long bread in pink bowl with left hand", "End", - "Close the refrigerator door", - "Close the lower drawer with the left gripper", - "Grasp the potato and place it on the table with left gripper", - "Open the lower refrigerator drawer", - "Close the middle refrigerator door with the right gripper", - "Place the apple in the lower drawer with right gripper", - "Put orange in the refrigerator drawer", - "Abnormal", - "Put pumpkin in the refrigerator drawer", - "Grasp the potato and place it on the table with right gripper", - "Close the lower refrigerator drawer", - "Place the green bell pepper in the lower drawer with left gripper", - "Put apple in the refrigerator drawer", - "Take out the pumpkin and place it on the table", - "Close the lower drawer with the right gripper", - "Grasp the orange and place it on the table with right gripper", - "Put potato in the refrigerator drawer", - "Take out the green pepper and place it on the table", - "Take out the orange and place it on the tray", - "Grasp the green bell pepper and place it on the table with right gripper", - "Take out the apple and place it on the table", - "Open the lower drawer with the right gripper", + "Grasp the round bread with left hand", + "Grasp the long bread with left hand", + "Place the round bread in pink bowl with left hand", + "Move the pink bowl to the center of table with right hand", "null" ], "annotations": { @@ -29218,10 +24648,119 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pullBowl_storage_bread_unordered_C_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galaxea_R1_Lite_arrange_baai_then_brain": { + "RMC-AIDA-L_plate_storage": { + "path": "RMC-AIDA-L_plate_storage", + "dataset_name": "plate_storage", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the plate on the shelf with the right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "shelf", + "level1": "furniture", + "level2": "shelf", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-284602", + "dataset_size": "1.8GB", + "statistics": { + "total_episodes": 498, + "total_frames": 284602, + "total_tasks": 2, + "total_videos": 1494, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "8c203fd8-2988-4e8f-8ddc-eedbb69dcdfe", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the plate on the shelf with the right gripper", + "End", + "Pick up the plate with the right gripper", + "Pick up the plate with the left gripper", + "Pass the plate from the left gripper to the right gripper", + "Pass the plate from the right gripper to the left gripper", + "Place the plate on the shelf with the left gripper", + "abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_plate_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Galaxea_R1_Lite_mix_red_blue_right": { "task_categories": [ "robotics" ], @@ -29251,11 +24790,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_arrange_baai_then_brain", + "dataset_name": "Galaxea_R1_Lite_mix_red_blue_right", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "eduction", - "level2": "school", + "level1": "office_workspace", + "level2": "office", "level3": null, "level4": null, "level5": null @@ -29263,65 +24802,126 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "early_education_toys", - "level1": "buiding_blocks", - "level2": "early_education_toys", + "object_name": "red_pigment", + "level1": "materials", + "level2": "red_pigment", "level3": null, "level4": null, - "level5:operation_platform_height": 77.2 + "level5": null + }, + { + "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": "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": [ - "use the gripper to find blocks with the letters b, a, a, and i on the table and arrange them into BAAI, then find r and N and turn the arranged baai into brian." + "pick up the test tube with red pigment and the test tube with blue pigment by grippers and pour them into the container." ], "sub_tasks": [ { - "subtask": "Abnormal", + "subtask": "Pour the red reagent into the graduated cylinder with right gripper", "subtask_index": 0 }, { - "subtask": "Place the second block A in the third location", + "subtask": "Pour the red reagent into the graduated cylinder with the right gripper", "subtask_index": 1 }, { - "subtask": "Place the block I in the fourth location", + "subtask": "Pick up the test tube containing the red reagent with right gripper", "subtask_index": 2 }, { - "subtask": "Place the first block A in the second location", + "subtask": "End", "subtask_index": 3 }, { - "subtask": "Place the block B in the first location", + "subtask": "Place the test tube into the bowl with right gripper", "subtask_index": 4 }, { - "subtask": "End", + "subtask": "Pour the blue reagent into the graduated cylinder with the right gripper", "subtask_index": 5 }, { - "subtask": "Move the block A out of the second location", + "subtask": "Pick up the test tube containing the blue reagent with right gripper", "subtask_index": 6 }, { - "subtask": "Place the block N in the fifth location", + "subtask": "Pour the blue reagent into the graduated cylinder with right gripper", "subtask_index": 7 }, { - "subtask": "Place the block R in the second location", + "subtask": "Grasp the blue reagent with the right gripper", "subtask_index": 8 }, { - "subtask": "null", + "subtask": "Grasp the yellow reagent with the right gripper", "subtask_index": 9 + }, + { + "subtask": "Pour the yellow reagent into the graduated cylinder with the right gripper", + "subtask_index": 10 + }, + { + "subtask": "end", + "subtask_index": 11 + }, + { + "subtask": "Place the test tube into the bowl with the right gripper", + "subtask_index": 12 + }, + { + "subtask": "Grasp the red reagent with the right gripper", + "subtask_index": 13 + }, + { + "subtask": "null", + "subtask_index": 14 } ], "atomic_actions": [ "grasp", "pick", - "place" - ], + "place", + "pour" + ], "robot_name": [ "Galaxea_R1_Lite" ], @@ -29354,23 +24954,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 56, - "total_frames": 44471, + "total_episodes": 50, + "total_frames": 32072, "fps": 30, - "total_tasks": 10, - "total_videos": 224, + "total_tasks": 15, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "state_dim": 14, "action_dim": 14, "camera_views": 4, - "dataset_size": "1.26 GB" + "dataset_size": "647.52 MB" }, - "frame_num": 44471, - "dataset_size": "1.26 GB", - "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_arrange_baai_then_brain_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (44 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 32072, + "dataset_size": "647.52 MB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_blue_right_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:55" + "train": "0:49" }, "features": { "observation.images.cam_head_left_rgb": { @@ -29740,7 +25340,7 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "Agilex_Cobot_Magic_open_drawer_bottom": { + "Airbot_MMK2_storage_cup_rubik's_cube": { "task_categories": [ "robotics" ], @@ -29770,11 +25370,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_open_drawer_bottom", + "dataset_name": "Airbot_MMK2_storage_cup_rubik's_cube", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "office_workspace", - "level2": "office", + "level1": "household", + "level2": "living_room", "level3": null, "level4": null, "level5": null @@ -29782,17 +25382,25 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "table", - "level1": "home_storage", - "level2": "table", + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "three_layer_transparent_drawer", - "level1": "laboratory_supplies", - "level2": "three_layer_transparent_drawer", + "object_name": "cup", + "level1": "kitchen_supplies", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rubik's_cube", + "level1": "toys", + "level2": "rubik's_cube", "level3": null, "level4": null, "level5": null @@ -29800,31 +25408,31 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "open the bottom drawer." + "put the rubik's Cube into the plate with right hand and place the cup on top of the cube with left hand." ], "sub_tasks": [ { - "subtask": "end", + "subtask": "Grasp the paper cup with the left gripper", "subtask_index": 0 }, { - "subtask": "Pull open the drawer with the left gripper", + "subtask": "Place the paper cup on the magic cube with the left gripper", "subtask_index": 1 }, { - "subtask": "Abnormal", + "subtask": "Place the magic cube on the plate with the right gripper", "subtask_index": 2 }, { - "subtask": "Grab the bottom drawer with the right gripper", + "subtask": "Abnormal", "subtask_index": 3 }, { - "subtask": "Pull open the drawer with the right gripper", + "subtask": "Grasp the magic cube with the right gripper", "subtask_index": 4 }, { - "subtask": "Grab the bottom drawer with the left gripper", + "subtask": "End", "subtask_index": 5 }, { @@ -29834,28 +25442,31 @@ ], "atomic_actions": [ "grasp", - "pull" + "pick", + "place" ], "robot_name": [ - "Agilex_Cobot_Magic" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "end_effector_type": "five_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "cam_right_wrist_rgb", + "cam_front_rgb" ], "came_info": { "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "radian", - "end_translation_dim": "meter", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -29866,23 +25477,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 50, - "total_frames": 18620, + "total_episodes": 47, + "total_frames": 13787, "fps": 30, "total_tasks": 7, - "total_videos": 150, + "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "182.16 MB" + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "387.14 MB" }, - "frame_num": 18620, - "dataset_size": "182.16 MB", - "data_structure": "Agilex_Cobot_Magic_open_drawer_bottom_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 13787, + "dataset_size": "387.14 MB", + "data_structure": "Airbot_MMK2_storage_cup_rubik_s_cube_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", "splits": { - "train": "0:49" + "train": "0:46" }, "features": { "observation.images.cam_head_rgb": { @@ -29954,10 +25565,33 @@ "has_audio": false } }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, "observation.state": { "dtype": "float32", "shape": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -29966,32 +25600,42 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" ] }, "action": { "dtype": "float32", "shape": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -30000,26 +25644,36 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" ] }, "timestamp": { @@ -30059,17 +25713,17 @@ }, "subtask_annotation": { "names": null, - "dtype": "int32", "shape": [ 5 - ] + ], + "dtype": "int32" }, "scene_annotation": { "names": null, - "dtype": "int32", "shape": [ 1 - ] + ], + "dtype": "int32" }, "eef_sim_pose_state": { "names": [ @@ -30086,10 +25740,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_sim_pose_action": { "names": [ @@ -30106,130 +25760,70 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", "shape": [ 2 - ] - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", - "shape": [ - 2 - ] + "dtype": "int32" } }, "authors": { @@ -30251,161 +25845,9 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" - }, - "Cobot_Magic_clean_up_the_tableware": { - "path": "Cobot_Magic_clean_up_the_tableware", - "dataset_name": "clean_up_the_tableware", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "use the left arm to grab a blue teacup", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cup", - "level1": "container", - "level2": "cup", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-18127", - "dataset_size": "1.0GB", - "statistics": { - "total_episodes": 33, - "total_frames": 18127, - "total_tasks": 1, - "total_videos": 99, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "ad865471-39ce-4343-92f4-8dcc8ed48830", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "use the left arm to grab a blue teacup", - "Grasp the bowl with the left gripper", - "use the right arm to grab a blue rice bowl", - "Place the bowl on the plate with the left gripper", - "use the left arm to put the blue soup spoon into the blue teacup in the middle", - "Grasp the spoon with the left gripper", - "Place the spoon on the cup with the left gripper", - "use the right arm to put the blue soup spoon on the blue large plate in the middle", - "use the left arm to put the blue teacup into the blue rice bowl in the middle", - "Grasp the cup with the left gripper", - "use the right arm to put the blue soup spoon into the blue teacup in the middle", - "use the right arm to put the blue teacup into the blue rice bowl in the middle", - "use the left arm to grab a blue rice bowl", - "use the right arm to grab a blue teacup", - "Place the spoon on the cup with the right gripper", - "use the right arm to put the blue rice bowl into the blue large plate in the middle", - "abnormal", - "Grasp the cup with the right gripper", - "use the right arm to grab a blue soup spoon", - "Grasp the bowl with the right gripper", - "Grasp the spoon with the right gripper", - "Place the cup on the bowl with the right gripper", - "Place the cup on the bowl with the left gripper", - "use the left arm to grab a blue soup spoon", - "End", - "Place the bowl on the plate with the right gripper", - "use the left arm to put the blue rice bowl into the blue large plate in the middle", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Airbot_MMK2_take_toy_car": { + "Airbot_MMK2_storage_spoon": { "task_categories": [ "robotics" ], @@ -30435,11 +25877,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_take_toy_car", + "dataset_name": "Airbot_MMK2_storage_spoon", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "other", - "level2": "laboratory", + "level1": "household", + "level2": "kitchen", "level3": null, "level4": null, "level5": null @@ -30447,17 +25889,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "toy_car", - "level1": "doll", - "level2": "toy_car", + "object_name": "spoon", + "level1": "kitchen_supplies", + "level2": "spoon", "level3": null, "level4": null, "level5": null }, { - "object_name": "white_small_plate", - "level1": "plates", - "level2": "white_small_plate", + "object_name": "basin", + "level1": "home_storage", + "level2": "basin", "level3": null, "level4": null, "level5": null @@ -30465,36 +25907,32 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "take the toy car out of the plate by hand and place it on the table." + "pick up the spoons on the table by hand and place them into the basin." ], "sub_tasks": [ { - "subtask": "Grasp the toy car on the plate and with the left gripper", + "subtask": "Grasp the spoon with the right gripper", "subtask_index": 0 }, { - "subtask": "Grasp the toy car on the plate and with the right gripper", + "subtask": "End", "subtask_index": 1 }, { - "subtask": "Abnormal", + "subtask": "Grasp the spoon with the left gripper", "subtask_index": 2 }, { - "subtask": "End", + "subtask": "Place the spoon into the basin with the right gripper", "subtask_index": 3 }, { - "subtask": "Place the toy car on the table with the right gripper", + "subtask": "Place the spoon into the basin with the left gripper", "subtask_index": 4 }, - { - "subtask": "Place the toy car on the table with the left gripper", - "subtask_index": 5 - }, { "subtask": "null", - "subtask_index": 6 + "subtask_index": 5 } ], "atomic_actions": [ @@ -30534,23 +25972,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 49, - "total_frames": 14333, + "total_episodes": 54, + "total_frames": 15550, "fps": 30, - "total_tasks": 7, - "total_videos": 196, + "total_tasks": 6, + "total_videos": 216, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "457.72 MB" + "dataset_size": "509.63 MB" }, - "frame_num": 14333, - "dataset_size": "457.72 MB", - "data_structure": "Airbot_MMK2_take_toy_car_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 15550, + "dataset_size": "509.63 MB", + "data_structure": "Airbot_MMK2_storage_spoon_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (42 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", "splits": { - "train": "0:48" + "train": "0:53" }, "features": { "observation.images.cam_head_rgb": { @@ -30904,20 +26342,19 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "G1edu-u3_pick_up_the_bread_az": { - "path": "G1edu-u3_pick_up_the_bread_az", - "dataset_name": "pick_up_the_bread_az", + "G1edu-u3_tray_storage_lemon_a": { + "path": "G1edu-u3_tray_storage_lemon_a", + "dataset_name": "tray_storage_lemon_a", "robot_type": "", "end_effector_type": [ "three_finger_hand" ], "scene_type": [], "atomic_actions": [ - "grasp", "pick", "place" ], - "tasks": "End", + "tasks": "Place the lemon on the blue plate with left gripper", "objects": [ { "object_name": "table", @@ -30928,83 +26365,35 @@ "level5": null }, { - "object_name": "basket", - "level1": "home_storage", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread", - "level1": "food", - "level2": "bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "bowl", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "grape", - "level1": "fruits", - "level2": "grape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "orange", - "level1": "fruits", - "level2": "orange", + "object_name": "tray", + "level1": "container", + "level2": "tray", "level3": null, "level4": null, "level5": null }, { - "object_name": "pear", + "object_name": "lemon", "level1": "fruits", - "level2": "pear", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "apple", - "level1": "fruit", - "level2": "apple", + "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-14542", - "dataset_size": "169.7MB", + "frame_range": "0-2298", + "dataset_size": "27.2MB", "statistics": { - "total_episodes": 26, - "total_frames": 14542, + "total_episodes": 13, + "total_frames": 2298, "total_tasks": 1, - "total_videos": 26, + "total_videos": 13, "total_chunks": 1, - "chunks_size": 27, + "chunks_size": 13, "fps": 30 }, - "dataset_uuid": "95b46832-04a8-4073-b033-dbe0d38fe742", + "dataset_uuid": "50af80c8-eb74-4dec-9689-8bea0af5a8c2", "language": [ "en", "zh" @@ -31013,10 +26402,9 @@ "robotics" ], "sub_tasks": [ + "Place the lemon on the blue plate with left gripper", + "Place the lemon on the blue plate with right gripper", "End", - "Grasp the long bread and lift it to the center of the view with left gripper", - "Grasp the long bread and lift it to the center of the view with right gripper", - "Abnormal", "null" ], "annotations": { @@ -31054,496 +26442,190 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_tray_storage_lemon_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_move_beverage": { - "path": "Cobot_Magic_move_beverage", - "dataset_name": "move_beverage", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" + "agilex_cobot_magic_pass_object_right_to_left_black_tablecloth": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" ], - "tasks": "End", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "agilex_cobot_magic_pass_object_right_to_left_black_tablecloth", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "commercial_convenience", + "level2": "supermarket", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { "object_name": "table", - "level1": "furniture", + "level1": "home_storage", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "green_bottle_beverage", - "level1": "drink", - "level2": "green_bottle_beverage", + "object_name": "ambrosial_yogurt", + "level1": "food", + "level2": "ambrosial_yogurt", "level3": null, "level4": null, "level5": null }, { - "object_name": "red_bottle_beverage", - "level1": "drink", - "level2": "red_bottle_beverage", + "object_name": "banana", + "level1": "food", + "level2": "banana", "level3": null, "level4": null, "level5": null }, { - "object_name": "black_bottle_beverage", - "level1": "drink", - "level2": "black_bottle_beverage", + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-31813", - "dataset_size": "636.5MB", - "statistics": { - "total_episodes": 100, - "total_frames": 31813, - "total_tasks": 1, - "total_videos": 300, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Grasp the beverage bottle placed at the back of the desk", - "Place the drink at the front of the table", - "Pick up the drink", - "Place the beverage bottle to the front of the table", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_put_the_shoes_into_the_shoe_box": { - "path": "R1_Lite_put_the_shoes_into_the_shoe_box", - "dataset_name": "put_the_shoes_into_the_shoe_box", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Put the shoes out of the shoe box", - "objects": [ + }, { - "object_name": "shoes", - "level1": "clothing", - "level2": "shoes", + "object_name": "milk", + "level1": "food", + "level2": "milk", "level3": null, "level4": null, "level5": null }, { - "object_name": "shoe_box", - "level1": "container", - "level2": "shoe_box", + "object_name": "yogurt", + "level1": "food", + "level2": "yogurt", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-87219", - "dataset_size": "3.8GB", - "statistics": { - "total_episodes": 106, - "total_frames": 87219, - "total_tasks": 1, - "total_videos": 318, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Put the shoes out of the shoe box", - "abnormal", - "Put the shoes into the shoe box", - "Open the shoe box", - "Close the shoe box", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_put_the_tissue_box_al": { - "path": "G1edu-u3_put_the_tissue_box_al", - "dataset_name": "put_the_tissue_box_al", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place" - ], - "tasks": "End", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "grape", + "level1": "food", + "level2": "grape", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "ham_sausage", + "level1": "food", + "level2": "ham_sausage", "level3": null, "level4": null, "level5": null }, { - "object_name": "tissue", - "level1": "daily_necessities", - "level2": "tissue", + "object_name": "eggplant", + "level1": "food", + "level2": "eggplant", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-10816", - "dataset_size": "142.3MB", - "statistics": { - "total_episodes": 39, - "total_frames": 10816, - "total_tasks": 1, - "total_videos": 39, - "total_chunks": 1, - "chunks_size": 41, - "fps": 30 - }, - "dataset_uuid": "39aeb43d-8473-408d-a61d-bdd24134ab9a", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Place the tissue box on the table with both gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_box_storage_parcel_i": { - "path": "leju_robot_box_storage_parcel_i", - "dataset_name": "box_storage_parcel_i", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pick up the bottle from the table.", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "chewing_gum", + "level1": "food", + "level2": "chewing_gum", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "eyeglass_case", + "level1": "laboratory_supplies", + "level2": "eyeglass_case", "level3": null, "level4": null, "level5": null }, { - "object_name": "parcel", - "level1": "container", - "level2": "parcel", + "object_name": "rubik's_cube", + "level1": "toys", + "level2": "rubik's_cube", "level3": null, "level4": null, "level5": null }, { - "object_name": "conveyor_belt", - "level1": "industrial_equipment", - "level2": "conveyor_belt", + "object_name": "purple_trash_bag", + "level1": "trash", + "level2": "purple_trash_bag", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-313461", - "dataset_size": "19.3GB", - "statistics": { - "total_episodes": 222, - "total_frames": 313461, - "total_tasks": 1, - "total_videos": 666, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "6e0f6aaf-d447-436f-bfc3-bedd5a1bce04", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick up the bottle from the table.", - "Flip the bottle to face forward.", - "Take the bottle from the table.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_storage_shark_doll": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "license": "apache-2.0", - "configs": [ + }, { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } - ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + "object_name": "cleanser", + "level1": "daily_necessities", + "level2": "cleanser", + "level3": null, + "level4": null, + "level5": null }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_shark_doll", - "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", + "object_name": "bathing_in_flowers", + "level1": "daily_necessities", + "level2": "bathing_in_flowers", "level3": null, "level4": null, "level5": null }, { - "object_name": "shark_doll", - "level1": "toys", - "level2": "shark_doll", + "object_name": "whiteboard_eraser", + "level1": "stationery", + "level2": "whiteboard_eraser", "level3": null, "level4": null, "level5": null }, { - "object_name": "lid", + "object_name": "candle", + "level1": "daily_necessities", + "level2": "candle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "black_table_cloths", "level1": "laboratory_supplies", - "level2": "lid", + "level2": "black_table_cloths", "level3": null, "level4": null, "level5": null @@ -31551,57 +26633,165 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "pick up the shark doll and put it in the lid." + "use the right gripper to pick up the item and transfer it from the right gripper to the left gripper." ], "sub_tasks": [ { - "subtask": "Place the whale on the white lid with the right gripper", + "subtask": "The left gripper places milk on the left side of the table", "subtask_index": 0 }, { - "subtask": "Grasp the whale with the left gripper", + "subtask": "The left gripper places bread on the left side of the table", "subtask_index": 1 }, { - "subtask": "Deliver the whale from left gripper to right gripper", + "subtask": "Pass the bread to the left gripper", "subtask_index": 2 }, { - "subtask": "End", + "subtask": "Pass the shower sphere to the left gripper", "subtask_index": 3 }, { - "subtask": "null", + "subtask": "Use the right gripper to grab the bread on the right side of the table", "subtask_index": 4 + }, + { + "subtask": "Use the right gripper to grab the grape on the right side of the table", + "subtask_index": 5 + }, + { + "subtask": "End", + "subtask_index": 6 + }, + { + "subtask": "Use the right gripper to grab the banana on the right side of the table", + "subtask_index": 7 + }, + { + "subtask": "Pass the purple garbage bag to the left gripper", + "subtask_index": 8 + }, + { + "subtask": "Pass the Rubik's Cube to the left gripper", + "subtask_index": 9 + }, + { + "subtask": "The left gripper places yogurt on the left side of the table", + "subtask_index": 10 + }, + { + "subtask": "The left gripper places shower sphere on the left side of the table", + "subtask_index": 11 + }, + { + "subtask": "Use the right gripper to grab the shower sphere on the right side of the table", + "subtask_index": 12 + }, + { + "subtask": "Use the right gripper to grab the grapes on the right side of the table", + "subtask_index": 13 + }, + { + "subtask": "Pass the yogurt to the left gripper", + "subtask_index": 14 + }, + { + "subtask": "The left gripper places grape on the left side of the table", + "subtask_index": 15 + }, + { + "subtask": "The left gripper places grapes on the left side of the table", + "subtask_index": 16 + }, + { + "subtask": "Use the right gripper to grab the milk on the right side of the table", + "subtask_index": 17 + }, + { + "subtask": "Pass the milk to the left gripper", + "subtask_index": 18 + }, + { + "subtask": "The left gripper places banana on the left side of the table", + "subtask_index": 19 + }, + { + "subtask": "Use the right gripper to grab the eyeglass case on the right side of the table", + "subtask_index": 20 + }, + { + "subtask": "Pass the banana to the left gripper", + "subtask_index": 21 + }, + { + "subtask": "Pass the grapes to the left gripper", + "subtask_index": 22 + }, + { + "subtask": "Use the right gripper to grab the purple garbage bag on the right side of the table", + "subtask_index": 23 + }, + { + "subtask": "Pass the grape to the left gripper", + "subtask_index": 24 + }, + { + "subtask": "The left gripper places eyeglass case on the left side of the table", + "subtask_index": 25 + }, + { + "subtask": "Pass the eyeglass case to the left gripper", + "subtask_index": 26 + }, + { + "subtask": "Use the right gripper to grab the yogurt on the right side of the table", + "subtask_index": 27 + }, + { + "subtask": "Use the right gripper to grab the Rubik's Cube on the right side of the table", + "subtask_index": 28 + }, + { + "subtask": "\nPass the milk to the left gripper\n", + "subtask_index": 29 + }, + { + "subtask": "The left gripper places purple garbage bag on the left side of the table", + "subtask_index": 30 + }, + { + "subtask": "null", + "subtask_index": 31 } ], "atomic_actions": [ "grasp", - "place", - "pick" + "lift", + "lower", + "handover", + "takeover" ], "robot_name": [ - "Airbot_MMK2" + "agilex_cobot_magic" ], - "end_effector_type": "five_finger_gripper", + "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "cam_right_wrist_rgb" ], "came_info": { "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -31613,20 +26803,20 @@ ], "statistics": { "total_episodes": 93, - "total_frames": 13034, + "total_frames": 59541, "fps": 30, - "total_tasks": 5, - "total_videos": 372, + "total_tasks": 32, + "total_videos": 279, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "461.32 MB" + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "1.15 GB" }, - "frame_num": 13034, - "dataset_size": "461.32 MB", - "data_structure": "Airbot_MMK2_storage_shark_doll_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (81 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 59541, + "dataset_size": "1.15 GB", + "data_structure": "Agilex_Cobot_Magic_pass_object_right_to_left_black_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (81 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { "train": "0:92" }, @@ -31700,33 +26890,10 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, "observation.state": { "dtype": "float32", "shape": [ - 36 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -31735,42 +26902,32 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -31779,36 +26936,26 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "timestamp": { @@ -31848,17 +26995,17 @@ }, "subtask_annotation": { "names": null, + "dtype": "int32", "shape": [ 5 - ], - "dtype": "int32" + ] }, "scene_annotation": { "names": null, + "dtype": "int32", "shape": [ 1 - ], - "dtype": "int32" + ] }, "eef_sim_pose_state": { "names": [ @@ -31875,10 +27022,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_sim_pose_action": { "names": [ @@ -31895,70 +27042,130 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "dtype": "int32", "shape": [ 2 + ] + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" ], - "dtype": "int32" + "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": { @@ -31980,14 +27187,14 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "Cobot_Magic_storage_plate": { - "path": "Cobot_Magic_storage_plate", - "dataset_name": "storage_plate", + "AIRBOT_MMK2_clean_the_desktop": { + "path": "AIRBOT_MMK2_clean_the_desktop", + "dataset_name": "clean_the_desktop", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ @@ -31995,7 +27202,7 @@ "pick", "place" ], - "tasks": "Left grab the white plate.", + "tasks": "End", "objects": [ { "object_name": "table", @@ -32006,43 +27213,27 @@ "level5": null }, { - "object_name": "rack", - "level1": "furniture", - "level2": "rack", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "calculator_box", + "level1": "tools", + "level2": "umbrella", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-57019", - "dataset_size": "903.4MB", + "frame_range": "0-8709", + "dataset_size": "327.5MB", "statistics": { - "total_episodes": 84, - "total_frames": 57019, + "total_episodes": 49, + "total_frames": 8709, "total_tasks": 1, - "total_videos": 252, + "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, - "fps": 50 + "fps": 30 }, - "dataset_uuid": "9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf", + "dataset_uuid": "05f361bc-b167-4623-b38b-a9371aa7d999", "language": [ "en", "zh" @@ -32051,20 +27242,11 @@ "robotics" ], "sub_tasks": [ - "Left grab the white plate.", - "Left grab the gray plate.", - "Place the plate on the rack", - "Right place it at the front of the shelf.", - "Right receive the plate.", - "Pick up the plate from the table", - "Left lift the plate.", - "end", - "Left grab the blue plate.", - "Left grab the yellow plate.", - "Hand over the plate", - "Right place it at the back of the shelf.", - "Left grab the pink plate.", - "Left grab the green plate.", + "End", + "Grasp the tissue with the right gripper", + "Place the umbrella on the white lid with the left gripper", + "Place the tissue on the white lid with the right gripper", + "Grasp the umbrella with the left gripper", "null" ], "annotations": { @@ -32102,123 +27284,542 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_storage_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_storage_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_clean_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Tianqin_A2_place_the_paper_box": { - "path": "Tianqin_A2_place_the_paper_box", - "dataset_name": "place_the_paper_box", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" + "Airbot_MMK2_storage_bottle_part": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" ], - "tasks": "End", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_storage_bottle_part", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "commercial_convenience", + "level2": "supermarket", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "water_bottle", + "level1": "beverages", + "level2": "water_bottle", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "handle", + "level1": "laboratory_supplies", + "level2": "handle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "carton", + "level1": "laboratory_supplies", + "level2": "carton", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-94841", - "dataset_size": "3.0GB", - "statistics": { - "total_episodes": 236, - "total_frames": 94841, - "total_tasks": 1, - "total_videos": 708, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "291007f6-cfd0-4e23-bc97-da01c0f367ac", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "put the water bottle and handle into the cardboard box." ], "sub_tasks": [ - "End", - "Abnormal", - "Grasp the paper box", - "Place the paper box on the table", - "Place the data cable in the another box", - "Grasp the data cable", - "null" + { + "subtask": "Grasp the water bottle with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the water bottle into the cardboard box with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Lift the water bottle with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Lift the remote control clip with the left gripper ", + "subtask_index": 3 + }, + { + "subtask": "Abnormal", + "subtask_index": 4 + }, + { + "subtask": "Static", + "subtask_index": 5 + }, + { + "subtask": "Place the remote control clip into the cardboard box with the left gripper", + "subtask_index": 6 + }, + { + "subtask": "End", + "subtask_index": 7 + }, + { + "subtask": "Grasp the remote control clip with the left gripper ", + "subtask_index": 8 + }, + { + "subtask": "null", + "subtask_index": 9 + } ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "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": 10499, + "fps": 30, + "total_tasks": 10, + "total_videos": 196, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "508.16 MB" + }, + "frame_num": 10499, + "dataset_size": "508.16 MB", + "data_structure": "Airbot_MMK2_storage_bottle_part_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:48" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } }, "authors": { "contributed_by": [ { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Split_aloha_wipe_the_table": { - "path": "Split_aloha_wipe_the_table", - "dataset_name": "wipe_the_table", + "AIRBOT_MMK2_mobile_calculator_box": { + "path": "AIRBOT_MMK2_mobile_calculator_box", + "dataset_name": "mobile_calculator_box", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", "place", - "pick", - "wipe" + "pick" ], - "tasks": "Stand the paper cup upright", + "tasks": "Grasp the calculator case with left gripper", "objects": [ { "object_name": "table", @@ -32229,295 +27830,35 @@ "level5": null }, { - "object_name": "cup", + "object_name": "calculator_box", "level1": "container", - "level2": "cup", + "level2": "calculator_box", "level3": null, "level4": null, "level5": null }, { - "object_name": "rag", - "level1": "clothing", - "level2": "rag", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "stain", - "level1": "garbage", - "level2": "stain", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-166266", - "dataset_size": "1.3GB", - "statistics": { - "total_episodes": 302, - "total_frames": 166266, - "total_tasks": 3, - "total_videos": 906, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "c5648c51-14f0-4d84-a3cc-2fd1c28069a8", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Stand the paper cup upright", - "Wipe the stains off the table with a rag", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "RMC-AIDA-L_food_packaging": { - "path": "RMC-AIDA-L_food_packaging", - "dataset_name": "food_packaging", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "pull" - ], - "tasks": "Grab the pear with your right hand.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bag", - "level1": "container", - "level2": "bag", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lunch_box", - "level1": "container", - "level2": "lunch_box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cucumber", - "level1": "vegetable", - "level2": "cucumber", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pear", - "level1": "fruit", - "level2": "pear", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", + "object_name": "lid", + "level1": "container", + "level2": "lid", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-817652", - "dataset_size": "9.4GB", + "frame_range": "0-34396", + "dataset_size": "1.1GB", "statistics": { - "total_episodes": 497, - "total_frames": 817652, + "total_episodes": 150, + "total_frames": 34396, "total_tasks": 2, - "total_videos": 1491, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "59eb8786-4e0e-4c5e-b129-aec36ec1eda9", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grab the pear with your right hand.", - "Pick up the lunch box with your right hand.", - "end", - "Put the cucumber into the lunch bag with your right hand.", - "Hold the lunch bag with your left hand.", - "Secure the lunch bag with your left hand.", - "Pick up the cucumber with your right hand.", - "Hold the lunch bag with your right hand.", - "Take the banana with your right hand.", - "Place the lunch box into the lunch bag with your right hand.", - "Place the peach into the lunch bag with your right hand.", - "Zip up the lunch bag with your right hand.", - "Put the banana into the lunch bag with your right hand.", - "Place the pear into the lunch bag with your right hand.", - "Grab the peach with your right hand.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_tool_storage": { - "path": "AgiBot-g1_tool_storage", - "dataset_name": "tool_storage", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the mouse and power cord into the box.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tools", - "level1": "tools", - "level2": "tools", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-30600", - "dataset_size": "13.5GB", - "statistics": { - "total_episodes": 67, - "total_frames": 30600, - "total_tasks": 1, - "total_videos": 536, + "total_videos": 600, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "4681c572-c9b2-475c-b9c1-66ed9f3d533d", + "dataset_uuid": "7629d634-2d89-41ad-a722-364a319f374b", "language": [ "en", "zh" @@ -32526,8 +27867,16 @@ "robotics" ], "sub_tasks": [ - "Place the mouse and power cord into the box.", - "Grab and lift both the mouse and power cord from the accessory packaging area at the same time.", + "Grasp the calculator case with left gripper", + "End", + "Place the calculator case in the center of table with right gripper", + "Place the white box in the center of table with right gripper", + "Pass the white box to right gripper", + "Grasp the yellow book with left gripper", + "Place the yellow book in the center of table with right gripper", + "Pass the yellow book to right gripper", + "Pass the calculator case to right gripper", + "Grasp the white box with left gripper", "null" ], "annotations": { @@ -32565,10 +27914,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_mobile_calculator_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Realman_RMC-AIDA-L_storage_towel_basket": { + "Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth": { "task_categories": [ "robotics" ], @@ -32598,11 +27947,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Realman_RMC-AIDA-L_storage_towel_basket", + "dataset_name": "Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "kitchen", + "level1": "office & workspace", + "level2": "office", "level3": null, "level4": null, "level5": null @@ -32611,24 +27960,48 @@ "objects": [ { "object_name": "table", - "level1": "furniture", + "level1": "home_storage", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "home_storage", - "level2": "basket", + "object_name": "deli_water-based_marker", + "level1": "stationery", + "level2": "deli_water-based_marker", "level3": null, "level4": null, "level5": null }, { - "object_name": "towel", - "level1": "daily_necessities", - "level2": "towel", + "object_name": "notebook", + "level1": "stationery", + "level2": "notebook", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mouse", + "level1": "appliances", + "level2": "mouse", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mouse_pad", + "level1": "appliances", + "level2": "mouse_pad", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "red_table_cloths", + "level1": "laboratory_supplies", + "level2": "red_table_cloths", "level3": null, "level4": null, "level5": null @@ -32636,41 +28009,65 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "the left gripper grasp the basket on the table, the right grippe pick up the towel on the table and place it into the basket." + "the left gripper organize the pen on the notebook then the right gripper organize the mouse on the mouse pad." ], "sub_tasks": [ { - "subtask": "Place the towel into the basket with the right gripper", + "subtask": "Right gripper", "subtask_index": 0 }, { - "subtask": "Abnormal", + "subtask": "Pick up the mouse with right gripper", "subtask_index": 1 }, { - "subtask": "PIck up the basket with the left gripper", + "subtask": "Pick up the marker pen with right gripper", "subtask_index": 2 }, { - "subtask": "PIck up the towel with the right gripper", + "subtask": "Pick up the mouse with left gripper", "subtask_index": 3 }, { - "subtask": "end", + "subtask": "End", "subtask_index": 4 }, { - "subtask": "null", + "subtask": "Place the marker pen on the notebook with right gripper", "subtask_index": 5 + }, + { + "subtask": "Place the mouse on the mouse pad with left gripper", + "subtask_index": 6 + }, + { + "subtask": "Place the marker pen on the notebook with left gripper", + "subtask_index": 7 + }, + { + "subtask": "Left gripper", + "subtask_index": 8 + }, + { + "subtask": "Pick up the marker pen with left gripper", + "subtask_index": 9 + }, + { + "subtask": "Place the mouse on the mouse pad with right gripper", + "subtask_index": 10 + }, + { + "subtask": "null", + "subtask_index": 11 } ], "atomic_actions": [ "grasp", - "pick", - "place" + "lift", + "lower" ], "robot_name": [ - "Realman_RMC-AIDA-L" + "Agilex_Cobot_Magic" ], "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", @@ -32699,23 +28096,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 118, - "total_frames": 58520, + "total_episodes": 30, + "total_frames": 20689, "fps": 30, - "total_tasks": 6, - "total_videos": 354, + "total_tasks": 12, + "total_videos": 90, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 28, - "action_dim": 28, + "state_dim": 26, + "action_dim": 26, "camera_views": 3, - "dataset_size": "684.59 MB" + "dataset_size": "664.79 MB" }, - "frame_num": 58520, - "dataset_size": "684.59 MB", - "data_structure": "Realman_RMC-AIDA-L_storage_towel_basket_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (106 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 20689, + "dataset_size": "664.79 MB", + "data_structure": "Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (18 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:117" + "train": "0:29" }, "features": { "observation.images.cam_head_rgb": { @@ -32790,73 +28187,69 @@ "observation.state": { "dtype": "float32", "shape": [ - 28 + 26 ], "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": [ + "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_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", + "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_arm_joint_7_rad", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad" + "left_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": { @@ -32896,17 +28289,17 @@ }, "subtask_annotation": { "names": null, + "dtype": "int32", "shape": [ 5 - ], - "dtype": "int32" + ] }, "scene_annotation": { "names": null, + "dtype": "int32", "shape": [ 1 - ], - "dtype": "int32" + ] }, "eef_sim_pose_state": { "names": [ @@ -32923,10 +28316,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_sim_pose_action": { "names": [ @@ -32943,130 +28336,130 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "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" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_mode_action": { "names": [ "left_gripper_mode", "right_gripper_mode" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_activity_state": { "names": [ "left_gripper_activity", "right_gripper_activity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_activity_action": { "names": [ "left_gripper_activity", "right_gripper_activity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] + }, + "gripper_open_scale_state": { + "names": [ + "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": { @@ -33090,135 +28483,9 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "Cobot_Magic_cap_the_pen_a": { - "path": "Cobot_Magic_cap_the_pen_a", - "dataset_name": "cap_the_pen_a", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "insert" - ], - "tasks": "Secure the pen cap with the right hand.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pen_cap", - "level1": "office_supplies", - "level2": "pen_cap", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-51317", - "dataset_size": "1.0GB", - "statistics": { - "total_episodes": 55, - "total_frames": 51317, - "total_tasks": 1, - "total_videos": 165, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 50 - }, - "dataset_uuid": "b549e79c-e49e-4cec-a476-b94bdd766f22", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Secure the pen cap with the right hand.", - "Insert the pen into the cap", - "End", - "Put the cap on the pen", - "Pick up the pen cap", - "Grab the pen barrel with the left hand.", - "Secure the pen cap with the left hand.", - "Grab the pen cap with the left hand.", - "Place the pen on the table", - "Abnormal", - "Grab the pen cap with the right hand.", - "Insert the pen cap with the right hand.", - "Grab the pen barrel with the right hand.", - "Pick up the pen", - "Place the pen down with the right hand.", - "Insert the pen cap with the left hand.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Split_aloha_wipe_table": { - "path": "Split_aloha_wipe_table", - "dataset_name": "wipe_table", + "AgiBot-g1_mobile_accessory_storage_box_d": { + "path": "AgiBot-g1_mobile_accessory_storage_box_d", + "dataset_name": "mobile_accessory_storage_box_d", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -33227,10 +28494,9 @@ "atomic_actions": [ "grasp", "place", - "pick", - "wipe" + "pick" ], - "tasks": "Grasp the rag with right gripper", + "tasks": "Grasp the mouse and data cable", "objects": [ { "object_name": "table", @@ -33241,43 +28507,35 @@ "level5": null }, { - "object_name": "cup", + "object_name": "box", "level1": "container", - "level2": "cup", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rag", - "level1": "clothing", - "level2": "rag", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "stain", - "level1": "garbage", - "level2": "stain", + "object_name": "accessories", + "level1": "electronic_products", + "level2": "accessories", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-106804", - "dataset_size": "1.3GB", + "operation_platform_height": null, + "frame_range": "0-17860", + "dataset_size": "7.6GB", "statistics": { - "total_episodes": 200, - "total_frames": 106804, + "total_episodes": 30, + "total_frames": 17860, "total_tasks": 1, - "total_videos": 600, + "total_videos": 240, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "18848f29-f6ff-4f8a-ab4d-acc67d812c64", + "dataset_uuid": "add3803d-befc-4ae5-8bc7-b6d81060cdcf", "language": [ "en", "zh" @@ -33286,14 +28544,13 @@ "robotics" ], "sub_tasks": [ - "Grasp the rag with right gripper", - "Abnormal", - "Place the rag on the table with right gripper", - "Stand the paper cup upright with left gripper", + "Grasp the mouse and data cable", + "Place the mouse and data cable in the paper box", "End", - "Static", - "Grasp the paper cup with left gripper", - "Wipe the stains off the table with the rag with right gripper", + "Place the mouse in the paper box", + "Grab and pick up the mouse and power cord from the accessory packaging area.", + "Abnormal", + "Place the mouse and power cord into the box.", "null" ], "annotations": { @@ -33331,12 +28588,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_mobile_accessory_storage_box_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_pour_water": { - "path": "R1_Lite_pour_water", - "dataset_name": "pour_water", + "alpha_bot_2_pass_the_sandbag": { + "path": "alpha_bot_2_pass_the_sandbag", + "dataset_name": "pass_the_sandbag", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -33347,7 +28604,7 @@ "pick", "place" ], - "tasks": "Pour water into the cup", + "tasks": "Pass the paper ball to the right gripper", "objects": [ { "object_name": "table", @@ -33358,43 +28615,27 @@ "level5": null }, { - "object_name": "water", - "level1": "drink", - "level2": "water", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "kettle", - "level1": "electric_appliance", - "level2": "kettle", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cup", - "level1": "container", - "level2": "cup", + "object_name": "sandbag", + "level1": "toy", + "level2": "sandbag", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-53125", + "frame_range": "0-69956", "dataset_size": "2.0GB", "statistics": { - "total_episodes": 51, - "total_frames": 53125, + "total_episodes": 86, + "total_frames": 69956, "total_tasks": 1, - "total_videos": 153, + "total_videos": 344, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "8b05bffb-745b-4de7-bbfa-113e42018671", + "dataset_uuid": "81e68aa6-8f11-4edf-9c00-cc322e4fc0c9", "language": [ "en", "zh" @@ -33403,12 +28644,10 @@ "robotics" ], "sub_tasks": [ - "Pour water into the cup", - "Put the cup down on the table", - "Put down the kettle on the table", - "Pour water into another cup", - "Pick up the cup", - "Pick up the kettle", + "Pass the paper ball to the right gripper", + "End", + "Place the paper ball on the table with right gripper", + "Grasp the paper ball with left gripper", "null" ], "annotations": { @@ -33446,15 +28685,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "alpha_bot_2_pass_the_sandbag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "alpha_bot_2_pass_the_sandbag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galbot_g1_steamer_storage_baozi_j": { - "path": "Galbot_g1_steamer_storage_baozi_j", - "dataset_name": "steamer_storage_baozi_j", + "leju_robot_box_storage_parcel": { + "path": "leju_robot_box_storage_parcel", + "dataset_name": "box_storage_parcel", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ @@ -33462,7 +28701,7 @@ "pick", "place" ], - "tasks": "Place the pot lid on the table with left gripper", + "tasks": "Grasp the package on the scanner with left gripper", "objects": [ { "object_name": "table", @@ -33473,51 +28712,43 @@ "level5": null }, { - "object_name": "baozi", - "level1": "food", - "level2": "baozi", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "steamer", - "level1": "cookware", - "level2": "steamer", + "object_name": "box", + "level1": "home_storage", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "pot_lid", - "level1": "daily_necessities", - "level2": "pot_lid", + "object_name": "parcel", + "level1": "container", + "level2": "parcel", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "conveyor_belt", + "level1": "industrial_equipment", + "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-56015", - "dataset_size": "1.1GB", + "frame_range": "0-537851", + "dataset_size": "27.2GB", "statistics": { - "total_episodes": 41, - "total_frames": 56015, + "total_episodes": 443, + "total_frames": 537851, "total_tasks": 1, - "total_videos": 123, + "total_videos": 1329, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "b53dc50b-2b01-4783-900a-e0a8fa876a20", + "dataset_uuid": "b6a8ebae-9a8f-44c4-a7a1-7893c558480b", "language": [ "en", "zh" @@ -33526,16 +28757,18 @@ "robotics" ], "sub_tasks": [ - "Place the pot lid on the table with left gripper", - "Grasp the pot lid with left gripper", - "Place the pot lid on the steamer with left gripper", + "Grasp the package on the scanner with left gripper", + "Abnormal", + "Put the parcel inside the courier box.", + "Place the parcel onto the inbound machine.", + "Place the parcel into the delivery box.", + "Grasp the package on the conveyor belt with right gripper", + "Place the package in the green box with left gripper", "End", - "Move the switch to the right with left gripper", - "Place the baozi on the steamer with right gripper", - "Grasp the baozi with right gripper", - "Place the baozi on the plate with right gripper", - "Move the switch to the left with right gripper", - "Grasp the baozi in the plate with right gripper", + "Pick up the parcel from the conveyor belt.", + "Take the parcel off the conveyor belt.", + "Place the package on the scanner with right gripper", + "Pick up the parcel from the inbound machine.", "null" ], "annotations": { @@ -33573,23 +28806,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_box_storage_parcel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AgiBot-g1_picks_up_battery_b": { - "path": "AgiBot-g1_picks_up_battery_b", - "dataset_name": "picks_up_battery_b", + "leju_robot_moving_parts_s": { + "path": "leju_robot_moving_parts_s", + "dataset_name": "moving_parts_s", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ - "place", + "grasp", "pick", - "grasp" + "place" ], - "tasks": "Place the power supply on the operating table.", + "tasks": "Return to the initial position at the shelf", "objects": [ { "object_name": "table", @@ -33600,35 +28833,35 @@ "level5": null }, { - "object_name": "carton", - "level1": "tool", - "level2": "carton", + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", "level3": null, "level4": null, "level5": null }, { - "object_name": "battery", - "level1": "tool", - "level2": "battery", + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-131840", - "dataset_size": "71.4GB", + "frame_range": "0-776972", + "dataset_size": "53.8GB", "statistics": { - "total_episodes": 329, - "total_frames": 131840, + "total_episodes": 495, + "total_frames": 776972, "total_tasks": 1, - "total_videos": 2632, + "total_videos": 1485, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "69e28097-0f6e-4238-8562-b87280af0714", + "dataset_uuid": "4f3b96f0-482a-45ca-9176-d8cdf62101c7", "language": [ "en", "zh" @@ -33637,8 +28870,15 @@ "robotics" ], "sub_tasks": [ - "Place the power supply on the operating table.", - "Grab and lift the power supply from the large box.", + "Return to the initial position at the shelf", + "Grasp the black part with right gripper", + "End", + "Abnormal", + "Pick up the large material from the shelf", + "Place the black part on the table with right gripper", + "Move to the table behind body", + "Move the large material to the workbench", + "Insert the large material into the corresponding slot on the workbench", "null" ], "annotations": { @@ -33676,12 +28916,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_s_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_close_the_computer": { - "path": "AIRBOT_MMK2_close_the_computer", - "dataset_name": "close_the_computer", + "AIRBOT_MMK2_clean_the_desktop_a": { + "path": "AIRBOT_MMK2_clean_the_desktop_a", + "dataset_name": "clean_the_desktop_a", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -33689,10 +28929,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "End", + "tasks": "Place the calculator case in the center of table with right gripper", "objects": [ { "object_name": "table", @@ -33703,27 +28943,27 @@ "level5": null }, { - "object_name": "computer", - "level1": "office_supplies", - "level2": "computer", + "object_name": "calculator_box", + "level1": "tools", + "level2": "umbrella", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-7754", - "dataset_size": "320.9MB", + "frame_range": "0-9819", + "dataset_size": "338.3MB", "statistics": { - "total_episodes": 49, - "total_frames": 7754, + "total_episodes": 50, + "total_frames": 9819, "total_tasks": 1, - "total_videos": 196, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "5e9fe536-85e9-4e68-b390-51ba7aec5e6b", + "dataset_uuid": "05f361bc-b167-4623-b38b-a9371aa7d998", "language": [ "en", "zh" @@ -33732,12 +28972,10 @@ "robotics" ], "sub_tasks": [ + "Place the calculator case in the center of table with right gripper", + "Grasp the calculator case with left gripper", + "Pass the calculator case to right gripper", "End", - "Press the laptop with the left gripper", - "Release the laptop with the left gripper", - "Static", - "Abnormal", - "Close the laptop with the right gripper", "null" ], "annotations": { @@ -33775,10 +29013,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_close_the_computer_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_close_the_computer_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_clean_the_desktop_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galaxea_R1_Lite_storage_object_yellow_basket": { + "agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth": { "task_categories": [ "robotics" ], @@ -33808,11 +29046,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_storage_object_yellow_basket", + "dataset_name": "agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "living_room", + "level1": "commercial_convenience", + "level2": "supermarket", "level3": null, "level4": null, "level5": null @@ -33820,217 +29058,145 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "yellow_basket", - "level1": "basket", - "level2": "yellow_basket", + "object_name": "table", + "level1": "home_storage", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "banana", - "level1": "fruits", - "level2": "banana", + "object_name": "ambrosial_yogurt", + "level1": "food", + "level2": "ambrosial_yogurt", "level3": null, "level4": null, "level5": null }, { - "object_name": "bathing_in_flowers", - "level1": "daily_chemical_products", - "level2": "bathing_in_flowers", + "object_name": "banana", + "level1": "food", + "level2": "banana", "level3": null, "level4": null, "level5": null }, { - "object_name": "blue_cup", - "level1": "cups", - "level2": "blue_cup", + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { - "object_name": "blue_pot", - "level1": "cookware", - "level2": "blue_pot", + "object_name": "milk", + "level1": "food", + "level2": "milk", "level3": null, "level4": null, "level5": null }, { - "object_name": "toast_slices", - "level1": "bread", - "level2": "toast_slices", + "object_name": "yogurt", + "level1": "food", + "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { - "object_name": "brown_towel", - "level1": "towels", - "level2": "brown_towel", + "object_name": "grape", + "level1": "food", + "level2": "grape", "level3": null, "level4": null, "level5": null }, { - "object_name": "can", - "level1": "snacks", - "level2": "can", + "object_name": "ham_sausage", + "level1": "food", + "level2": "ham_sausage", "level3": null, "level4": null, "level5": null }, { - "object_name": "coke(slim_can)", - "level1": "beverages", - "level2": "coke(slim_can)", + "object_name": "eggplant", + "level1": "food", + "level2": "eggplant", "level3": null, "level4": null, "level5": null }, { - "object_name": "potato_chips", - "level1": "snacks", - "level2": "potato_chips", + "object_name": "chewing_gum", + "level1": "food", + "level2": "chewing_gum", "level3": null, "level4": null, "level5": null }, { - "object_name": "chocolate", - "level1": "snacks", - "level2": "chocolate", + "object_name": "eyeglass_case", + "level1": "laboratory_supplies", + "level2": "eyeglass_case", "level3": null, "level4": null, "level5": null }, { - "object_name": "compass", - "level1": "stationery", - "level2": "compass", + "object_name": "rubik's_cube", + "level1": "toys", + "level2": "rubik's_cube", "level3": null, "level4": null, "level5": null }, { - "object_name": "building_blocks", - "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_chemical_products", - "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", + "object_name": "purple_trash_bag", + "level1": "trash", + "level2": "purple_trash_bag", "level3": null, "level4": null, "level5": null }, { - "object_name": "mentholatum_facial_cleanser", + "object_name": "cleanser", "level1": "daily_necessities", - "level2": "mentholatum_facial_cleanser", + "level2": "cleanser", "level3": null, "level4": null, "level5": null }, { - "object_name": "square_building_blocks", - "level1": "building_blocks", - "level2": "square_building_blocks", + "object_name": "bathing_in_flowers", + "level1": "daily_necessities", + "level2": "bathing_in_flowers", "level3": null, "level4": null, "level5": null }, { - "object_name": "tape", + "object_name": "whiteboard_eraser", "level1": "stationery", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cake", - "level1": "food", - "level2": "cake", + "level2": "whiteboard_eraser", "level3": null, "level4": null, "level5": null }, { - "object_name": "duck", - "level1": "toys", - "level2": "duck", + "object_name": "candle", + "level1": "daily_necessities", + "level2": "candle", "level3": null, "level4": null, "level5": null }, { - "object_name": "ambrosial_yogurt", - "level1": "beverages", - "level2": "ambrosial_yogurt", + "object_name": "khaki_table_cloths", + "level1": "laboratory_supplies", + "level2": "khaki_table_cloths", "level3": null, "level4": null, "level5": null @@ -34038,413 +29204,205 @@ ], "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 yellow basket." + "use the left gripper to pick up the item and transfer it from the left gripper to the right gripper." ], "sub_tasks": [ { - "subtask": "Grasp the blue pot with the left gripper", + "subtask": "Pass the purple garbage bag to the right gripper", "subtask_index": 0 }, { - "subtask": "Grasp the plugboard with the left gripper", + "subtask": "Pass the shower sphere to the right gripper", "subtask_index": 1 }, { - "subtask": "Place the round wooden block on the yellow basket with the left gripper", + "subtask": "Place the milk on the table with the right gripper", "subtask_index": 2 }, { - "subtask": "Grasp the potato chips with the right gripper", + "subtask": "Place the XX on the table with the right gripper", "subtask_index": 3 }, { - "subtask": "Place the tin on the yellow basket with the right gripper", + "subtask": "Pass the yogurt to the right gripper", "subtask_index": 4 }, { - "subtask": "Place the plugboard on the yellow basket with the left gripper", + "subtask": "End", "subtask_index": 5 }, { - "subtask": "Place the peach on the yellow basket with the left gripper", + "subtask": "Pass the milk to the right gripper", "subtask_index": 6 }, { - "subtask": "Place the blue cup on the yellow basket with the right gripper", + "subtask": "Place the purple garbage bag on the table with the right gripper", "subtask_index": 7 }, { - "subtask": "Place the brown towel on the yellow basket with the right gripper", + "subtask": "Place the Rubik's Cube on the table with the right gripper", "subtask_index": 8 }, { - "subtask": "Grasp the compasses with the right gripper", + "subtask": "Grasp the blue blackboard erasure with the left gripper", "subtask_index": 9 }, { - "subtask": "Place the green lemon on the yellow basket with the right gripper", + "subtask": "Grasp the shower sphere with the left gripper", "subtask_index": 10 }, { - "subtask": "Place the duck toy on the yellow basket with the right gripper", + "subtask": "Grasp the plush banana with the left gripper", "subtask_index": 11 }, { - "subtask": "Grasp the duck toy with the left gripper", + "subtask": "Grasp the yogurt with the left gripper", "subtask_index": 12 }, { - "subtask": "Place the blackboard erasure on the yellow basket with the left gripper", + "subtask": "Grasp the milk with the left gripper\n", "subtask_index": 13 }, { - "subtask": "Grasp the blue cup with the left gripper", + "subtask": "Pass the plush banana to the right gripper", "subtask_index": 14 }, { - "subtask": "Place the bread slice on the yellow basket with the left gripper", + "subtask": "Place the blue blackboard erasure on the table with the right gripper", "subtask_index": 15 }, { - "subtask": "Place the hard facial cleanser on the yellow basket with the right gripper", + "subtask": "Abnormal", "subtask_index": 16 }, { - "subtask": "Place the peach on the yellow basket with the right gripper", + "subtask": "Grasp the XX with the left gripper", "subtask_index": 17 }, { - "subtask": "Grasp the back scratcher with the right gripper", + "subtask": "Grasp the blue blackboard erasure with the left grippe", "subtask_index": 18 }, { - "subtask": "Place the tape on the yellow basket with the right gripper", + "subtask": "Pass the Rubik's Cube to the right gripper", "subtask_index": 19 }, { - "subtask": "Place the blue pot on the yellow basket with the right gripper", + "subtask": "Place the milk on the table with the right gripper\n", "subtask_index": 20 }, { - "subtask": "Grasp the chocolate cake with the right gripper", + "subtask": "Pass the long bread to the right gripper\n", "subtask_index": 21 }, { - "subtask": "Place the tape on the yellow basket with the left gripper", + "subtask": "\nPass the milk to the right gripper", "subtask_index": 22 }, { - "subtask": "Place the shower sphere on the yellow basket with the left gripper", + "subtask": "Pass the long bread to the right gripper", "subtask_index": 23 }, { - "subtask": "Place the yogurt on the yellow basket with the left gripper", + "subtask": "Grasp the milk with the left gripper", "subtask_index": 24 }, { - "subtask": "Grasp the shower sphere with the left gripper", + "subtask": "Pass the blue blackboard erasure to the right gripper", "subtask_index": 25 }, { - "subtask": "Grasp the plugboard with the right gripper", + "subtask": "Place the long bread on the table with the right gripper", "subtask_index": 26 }, { - "subtask": "Grasp the tin with the left gripper", + "subtask": "Grasp the long bread with the left gripper", "subtask_index": 27 }, { - "subtask": "Grasp the brown towel with the left gripper", + "subtask": "Grasp the Rubik's Cube with the left gripper", "subtask_index": 28 }, { - "subtask": "Place the compasses on the yellow basket with the right gripper", + "subtask": "Place the yogurt on the table with the right gripper", "subtask_index": 29 }, { - "subtask": "Place the hard facial cleanser on the yellow basket with the left gripper", + "subtask": "Place the plush banana on the table with the right gripper", "subtask_index": 30 }, { - "subtask": "Grasp the hard facial cleanser with the left gripper", + "subtask": "Pass the milk to the right gripper\n", "subtask_index": 31 }, { - "subtask": "Place the potato chips on the yellow basket with the left gripper", + "subtask": "Place the grape on the table with the right gripper", "subtask_index": 32 }, { - "subtask": "Grasp the chocolate with the right gripper", + "subtask": "Grasp the long bread with the left gripper\n", "subtask_index": 33 }, { - "subtask": "Place the banana on the yellow basket with the right gripper", + "subtask": "Pass the milk to the right gripper", "subtask_index": 34 }, { - "subtask": "Grasp the peach with the right gripper", + "subtask": "Pass the grape to the right gripper", "subtask_index": 35 }, { - "subtask": "Grasp the brown towel with the right gripper", + "subtask": "Pass the blue garbage bag to the right gripper", "subtask_index": 36 }, { - "subtask": "Place the chocolate cake on the yellow basket with the left gripper", + "subtask": "Pass the xx to the right gripper", "subtask_index": 37 }, { - "subtask": "Place the shower sphere on the yellow basket with the right gripper", + "subtask": "Grasp the grape with the left gripper", "subtask_index": 38 }, { - "subtask": "Grasp the hard facial cleanser with the right gripper", + "subtask": "Grasp the purple garbage bag with the left gripper", "subtask_index": 39 }, { - "subtask": "Place the back scratcher on the yellow basket with the right gripper", + "subtask": "Place the shower sphere on the table with the right gripper", "subtask_index": 40 }, - { - "subtask": "Grasp the peach with the left gripper", - "subtask_index": 41 - }, - { - "subtask": "Place the blue cup on the yellow basket with the left gripper", - "subtask_index": 42 - }, - { - "subtask": "Grasp the green lemon with the right gripper", - "subtask_index": 43 - }, - { - "subtask": "Place the soft facial cleanser on the yellow basket with the right 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": "Grasp the blackboard erasure with the left gripper", - "subtask_index": 49 - }, - { - "subtask": "Grasp the coke with the left gripper", - "subtask_index": 50 - }, - { - "subtask": "Place the blackboard erasure on the yellow basket with the right gripper", - "subtask_index": 51 - }, - { - "subtask": "Grasp the round wooden block with the left gripper", - "subtask_index": 52 - }, - { - "subtask": "Place the tin on the yellow basket with the left gripper", - "subtask_index": 53 - }, - { - "subtask": "Place the bread slice on the yellow basket with the right gripper", - "subtask_index": 54 - }, - { - "subtask": "Place the compasses on the yellow basket with the left gripper", - "subtask_index": 55 - }, - { - "subtask": "Place the square wooden block on the yellow basket with the left gripper", - "subtask_index": 56 - }, - { - "subtask": "Place the chocolate cake on the yellow basket with the right gripper", - "subtask_index": 57 - }, - { - "subtask": "Grasp the compasses with the left gripper", - "subtask_index": 58 - }, - { - "subtask": "Place the peach doll on the yellow basket with the left gripper", - "subtask_index": 59 - }, - { - "subtask": "Grasp the blue pot with the right gripper", - "subtask_index": 60 - }, - { - "subtask": "Grasp the round bread with the right gripper", - "subtask_index": 61 - }, - { - "subtask": "Grasp the chocolate cake with the left gripper", - "subtask_index": 62 - }, - { - "subtask": "Place the coke on the yellow basket with the left gripper", - "subtask_index": 63 - }, - { - "subtask": "Place the duck toy on the yellow basket with the left gripper", - "subtask_index": 64 - }, - { - "subtask": "Grasp the tin with the right gripper", - "subtask_index": 65 - }, - { - "subtask": "Place the round wooden block on the yellow basket with the right gripper", - "subtask_index": 66 - }, - { - "subtask": "Place the square wooden block on the yellow basket with the right gripper", - "subtask_index": 67 - }, - { - "subtask": "Grasp the tape with the right gripper", - "subtask_index": 68 - }, - { - "subtask": "Grasp the coke with the right gripper", - "subtask_index": 69 - }, - { - "subtask": "Place the round bread on the yellow basket with the right gripper", - "subtask_index": 70 - }, - { - "subtask": "Grasp the tape with the left gripper", - "subtask_index": 71 - }, - { - "subtask": "Grasp the square chewing gum with the right gripper", - "subtask_index": 72 - }, - { - "subtask": "Grasp the peach doll with the left gripper", - "subtask_index": 73 - }, - { - "subtask": "Grasp the shower sphere with the right gripper", - "subtask_index": 74 - }, - { - "subtask": "Place the brown towel on the yellow basket with the left gripper", - "subtask_index": 75 - }, - { - "subtask": "Grasp the bread slice with the left gripper", - "subtask_index": 76 - }, - { - "subtask": "Grasp the yogurt with the left gripper", - "subtask_index": 77 - }, - { - "subtask": "Grasp the blackboard erasure with the right gripper", - "subtask_index": 78 - }, - { - "subtask": "Place the coke on the yellow basket with the right gripper", - "subtask_index": 79 - }, - { - "subtask": "Place the chocolate on the yellow basket with the right gripper", - "subtask_index": 80 - }, - { - "subtask": "Place the potato chips on the yellow basket with the right gripper", - "subtask_index": 81 - }, - { - "subtask": "Place the plugboard on the yellow basket with the right gripper", - "subtask_index": 82 - }, - { - "subtask": "Place the blue pot on the yellow basket with the left gripper", - "subtask_index": 83 - }, - { - "subtask": "Place the round bread on the yellow basket with the left gripper", - "subtask_index": 84 - }, - { - "subtask": "Grasp the round bread with the left gripper", - "subtask_index": 85 - }, - { - "subtask": "Grasp the square wooden block with the left gripper", - "subtask_index": 86 - }, - { - "subtask": "Grasp the blue cup with the right gripper", - "subtask_index": 87 - }, - { - "subtask": "Grasp the soft facial cleanser with the right gripper", - "subtask_index": 88 - }, - { - "subtask": "Grasp the square wooden block with the right gripper", - "subtask_index": 89 - }, - { - "subtask": "Grasp the round wooden block with the right gripper", - "subtask_index": 90 - }, - { - "subtask": "Place the square chewing gum on the yellow basket with the right gripper", - "subtask_index": 91 - }, - { - "subtask": "Grasp the banana with the right gripper", - "subtask_index": 92 - }, { "subtask": "null", - "subtask_index": 93 + "subtask_index": 41 } ], "atomic_actions": [ "grasp", - "pick", - "place" + "lift", + "lower", + "handover", + "takeover" ], "robot_name": [ - "Galaxea_R1_Lite" + "agilex_cobot_magic" ], "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_left_rgb", - "cam_head_right_rgb", + "cam_head_rgb", "cam_left_wrist_rgb", "cam_right_wrist_rgb" ], "came_info": { - "cam_head_left_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_head_right_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p" + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -34455,53 +29413,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 102, - "total_frames": 18153, + "total_episodes": 97, + "total_frames": 53653, "fps": 30, - "total_tasks": 94, - "total_videos": 408, + "total_tasks": 42, + "total_videos": 291, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, - "camera_views": 4, - "dataset_size": "742.42 MB" + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "636.04 MB" }, - "frame_num": 18153, - "dataset_size": "742.42 MB", - "data_structure": "Galaxea_R1_Lite_storage_object_yellow_basket_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (90 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 53653, + "dataset_size": "636.04 MB", + "data_structure": "Agilex_Cobot_Magic_pass_object_left_to_right_khaki_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (85 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:101" + "train": "0:96" }, "features": { - "observation.images.cam_head_left_rgb": { - "dtype": "video", - "shape": [ - 720, - 1280, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 720, - "video.width": 1280, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_head_right_rgb": { + "observation.images.cam_head_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -34510,8 +29445,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -34523,8 +29458,8 @@ "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -34533,8 +29468,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -34546,8 +29481,8 @@ "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -34556,8 +29491,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -34569,7 +29504,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 14 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -34578,20 +29513,32 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ - 14 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -34600,14 +29547,26 @@ "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", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "timestamp": { @@ -34647,17 +29606,17 @@ }, "subtask_annotation": { "names": null, + "dtype": "int32", "shape": [ 5 - ], - "dtype": "int32" + ] }, "scene_annotation": { "names": null, + "dtype": "int32", "shape": [ 1 - ], - "dtype": "int32" + ] }, "eef_sim_pose_state": { "names": [ @@ -34674,10 +29633,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_sim_pose_action": { "names": [ @@ -34694,130 +29653,130 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "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" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_mode_action": { "names": [ "left_gripper_mode", "right_gripper_mode" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_activity_state": { "names": [ "left_gripper_activity", "right_gripper_activity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_activity_action": { "names": [ "left_gripper_activity", "right_gripper_activity" ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "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": "int32" + "dtype": "float32", + "shape": [ + 2 + ] } }, "authors": { @@ -34839,23 +29798,22 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "RMC-AIDA-L_organise_the_document_bag": { - "path": "RMC-AIDA-L_organise_the_document_bag", - "dataset_name": "organise_the_document_bag", + "AIRBOT_MMK2_store_beauty_blender_and_building_blocks": { + "path": "AIRBOT_MMK2_store_beauty_blender_and_building_blocks", + "dataset_name": "store_beauty_blender_and_building_blocks", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", "place", - "pick", - "pull" + "pick" ], - "tasks": "Pulling up the zipper on the transparent plastic bag with the right gripper to close it", + "tasks": "Grasp the green cuboid block with the right gripper", "objects": [ { "object_name": "table", @@ -34866,27 +29824,43 @@ "level5": null }, { - "object_name": "document_bag", + "object_name": "marble", + "level1": "toy", + "level2": "marble", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "building_blocks", + "level1": "toy", + "level2": "building_blocks", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", "level1": "container", - "level2": "document_bag", + "level2": "bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-225360", - "dataset_size": "2.0GB", + "frame_range": "0-9178", + "dataset_size": "300.5MB", "statistics": { - "total_episodes": 480, - "total_frames": 225360, - "total_tasks": 4, - "total_videos": 1440, + "total_episodes": 50, + "total_frames": 9178, + "total_tasks": 1, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "327e0fe7-1be9-4724-b1ae-f511d8ab7f6b", + "dataset_uuid": "fee911a7-d998-45da-b549-b1621ca063be", "language": [ "en", "zh" @@ -34895,13 +29869,12 @@ "robotics" ], "sub_tasks": [ - "Pulling up the zipper on the transparent plastic bag with the right gripper to close it", - "Pulling up the zipper on the transparent plastic bag with the left gripper to close it", - "Pick up the transparent plastic bag with the left gripper", - "Pick up the transparent plastic bag with the right gripper", - "Place the transparent plastic bag", - "Place the transparent plastic bag with the right gripper", + "Grasp the green cuboid block with the right gripper", + "Place the bullet into the bowl with the left gripper", "End", + "Grasp the bullet with the left gripper", + "Abnormal", + "Place the green cuboid block into the bowl with the right gripper", "null" ], "annotations": { @@ -34939,12 +29912,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_organise_the_document_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_organise_the_document_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_store_beauty_blender_and_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_put_in_the_pear": { - "path": "Cobot_Magic_put_in_the_pear", - "dataset_name": "put_in_the_pear", + "RMC-AIDA-L_place_the_fruits_repeatedly": { + "path": "RMC-AIDA-L_place_the_fruits_repeatedly", + "dataset_name": "place_the_fruits_repeatedly", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -34952,10 +29925,11 @@ "scene_type": [], "atomic_actions": [ "grasp", + "place", "pick", - "place" + "pour" ], - "tasks": "Grasp the high-fiber fruit", + "tasks": "Pick up the bowl with the left gripper", "objects": [ { "object_name": "table", @@ -34966,27 +29940,59 @@ "level5": null }, { - "object_name": "pear", + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", "level1": "fruit", - "level2": "pear", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "fruit", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread", + "level1": "food", + "level2": "bread", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-21690", - "dataset_size": "461.5MB", + "frame_range": "0-541540", + "dataset_size": "3.7GB", "statistics": { - "total_episodes": 97, - "total_frames": 21690, - "total_tasks": 1, - "total_videos": 291, + "total_episodes": 481, + "total_frames": 541540, + "total_tasks": 8, + "total_videos": 1443, "total_chunks": 1, "chunks_size": 1000, - "fps": 50 + "fps": 30 }, - "dataset_uuid": "9ef9a074-b4b1-4d16-a577-460381b81a91", + "dataset_uuid": "3448d8ea-8209-43cf-bfcc-550863a26b13", "language": [ "en", "zh" @@ -34995,9 +30001,22 @@ "robotics" ], "sub_tasks": [ - "Grasp the high-fiber fruit", + "Pick up the bowl with the left gripper", + "Place the bread into the bowl", "abnormal", - "Place it on the right side of the table", + "Pick up the egg yolk pastry with the right gripper", + "Pour the egg yolk pastry out of bowl", + "Pour the orange out of the bowl", + "Place the peach into the bowl", + "Pour the peach out of bowl", + "Place the egg yolk pastry into the bowl", + "Pick up the bread with the right gripper", + "Pick up the peach with the right gripper", + "Pour the bread out of the bowl", + "end", + "Place the bowl on the table", + "Place the orange into the bowl", + "Pick up the orange with the right gripper", "null" ], "annotations": { @@ -35035,23 +30054,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_put_in_the_pear_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_put_in_the_pear_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_place_the_fruits_repeatedly_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galbot_g1_steamer_storage_baozi_e": { - "path": "Galbot_g1_steamer_storage_baozi_e", - "dataset_name": "steamer_storage_baozi_e", + "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers": { + "path": "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers", + "dataset_name": "place_the_piano_and_the_needle-nose_pliers", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "place", + "pick" ], - "tasks": "Grasp the pot lid with left gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -35062,51 +30081,43 @@ "level5": null }, { - "object_name": "baozi", - "level1": "food", - "level2": "baozi", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "steamer", - "level1": "cookware", - "level2": "steamer", + "object_name": "hand_tapping_the_qin", + "level1": "toy", + "level2": "hand_tapping_the_qin", "level3": null, "level4": null, "level5": null }, { - "object_name": "pot_lid", - "level1": "daily_necessities", - "level2": "pot_lid", + "object_name": "lid", + "level1": "container", + "level2": "lid", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "long-nose_pliers", + "level1": "tool", + "level2": "long-nose_pliers", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-627792", - "dataset_size": "11.2GB", + "operation_platform_height": 77.2, + "frame_range": "0-25318", + "dataset_size": "826.8MB", "statistics": { - "total_episodes": 607, - "total_frames": 627792, + "total_episodes": 49, + "total_frames": 25318, "total_tasks": 1, - "total_videos": 1821, + "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "c1e9fbc2-7775-4cc2-9a8c-d4c58aca210a", + "dataset_uuid": "230992b4-bba2-4f5b-99ce-03e63d148ce1", "language": [ "en", "zh" @@ -35115,12 +30126,13 @@ "robotics" ], "sub_tasks": [ - "Grasp the pot lid with left gripper", - "Abnormal", - "Place the pot lid on the steamer with left gripper", "End", - "Place the baozi on the steamer with right gripper", - "Grasp the baozi in the plate with right gripper", + "Static", + "Place the tongs on the white lid with the right gripper", + "Grasp the tongs with the right gripper", + "Place the xylophone on the white lid with the left gripper", + "Grasp the xylophone with the left gripper", + "Abnormal", "null" ], "annotations": { @@ -35158,24 +30170,21 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Galbot_g1_steamer_storage_baozi_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Galbot_g1_steamer_storage_baozi_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_pull_open_bag": { - "path": "RMC-AIDA-L_pull_open_bag", - "dataset_name": "pull_open_bag", + "AIRBOT_MMK2_take_the_book": { + "path": "AIRBOT_MMK2_take_the_book", + "dataset_name": "take_the_book", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ - "grasp", - "pull", - "zip", - "up" + "pick" ], - "tasks": "Grab the zipper with your left hand.", + "tasks": "Lay the book down with the right gripper", "objects": [ { "object_name": "table", @@ -35186,35 +30195,35 @@ "level5": null }, { - "object_name": "food_bag", + "object_name": "bookshelf", "level1": "container", - "level2": "food_bag", + "level2": "bookshelf", "level3": null, "level4": null, "level5": null }, { - "object_name": "zipper", - "level1": "fastener", - "level2": "zipper", + "object_name": "book", + "level1": "stationery", + "level2": "book", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-684327", - "dataset_size": "8.3GB", + "frame_range": "0-9314", + "dataset_size": "352.3MB", "statistics": { - "total_episodes": 1396, - "total_frames": 684327, - "total_tasks": 5, - "total_videos": 4188, - "total_chunks": 2, + "total_episodes": 79, + "total_frames": 9314, + "total_tasks": 2, + "total_videos": 316, + "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "4363efec-236f-4495-a86b-14c3a5d20345", + "dataset_uuid": "a04264d7-7e81-40cc-af53-0ec87db1f556", "language": [ "en", "zh" @@ -35223,19 +30232,10 @@ "robotics" ], "sub_tasks": [ - "Grab the zipper with your left hand.", + "Lay the book down with the right gripper", + "Hold the book with the right gripper", "Abnormal", - "Place the bag on the table with left gripper", - "Pull open the zipper with your right hand.", - "Grab the bag with your left hand.", - "Static", - "Unzip the zipper of bag with right gripper", "End", - "Pick up the bag with left gripper", - "Pick up the bag with right gripper", - "Deliver the bag from right gripper to left gripper", - "Pull up the zipper with your right hand.", - "Discard.", "null" ], "annotations": { @@ -35273,15 +30273,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_pull_open_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_pull_open_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_take_the_book_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_storage_peach_pear": { - "path": "Airbot_MMK2_storage_peach_pear", - "dataset_name": "Airbot_MMK2_storage_peach_pear", + "Cobot_Magic_move_the_plate": { + "path": "Cobot_Magic_move_the_plate", + "dataset_name": "move_the_plate", "robot_type": "", "end_effector_type": [ - "five_finger_gripper" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ @@ -35289,46 +30289,38 @@ "pick", "place" ], - "tasks": "Grasp a peach with the left gripper", + "tasks": "Pick the container that can hold fruits", "objects": [ { - "object_name": "peach", - "level1": "fruits", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pear", - "level1": "fruits", - "level2": "pear", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "storage_box", - "level1": "storage_utensils", - "level2": "storage_box", + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-2804", - "dataset_size": "114.2MB", + "frame_range": "0-25057", + "dataset_size": "418.0MB", "statistics": { - "total_episodes": 12, - "total_frames": 2804, + "total_episodes": 98, + "total_frames": 25057, "total_tasks": 1, - "total_videos": 48, + "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "fps": 50 }, - "dataset_uuid": "c48b833c-02bd-4fd5-a2c2-5b03bf2c2936", + "dataset_uuid": "8d39690e-e415-4f1c-9e39-2c0a83b6fe12", "language": [ "en", "zh" @@ -35337,12 +30329,8 @@ "robotics" ], "sub_tasks": [ - "Grasp a peach with the left gripper", - "Grasp a pear with the right gripper", - "Abnormal", - "Place the peach into the left compartment of the storage box with the left gripper", - "Place the pear into the right compartment of the storage box with the right gripper", - "End", + "Pick the container that can hold fruits", + "Move the picked object to the right side of the table", "null" ], "annotations": { @@ -35380,15 +30368,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Airbot_MMK2_storage_peach_pear_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Airbot_MMK2_storage_peach_pear_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_move_the_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_move_the_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_plate_storage_doll": { - "path": "G1edu-u3_plate_storage_doll", - "dataset_name": "plate_storage_doll", + "AgiBot-g1_robotic_arm_picks_up_battery": { + "path": "AgiBot-g1_robotic_arm_picks_up_battery", + "dataset_name": "robotic_arm_picks_up_battery", "robot_type": "", "end_effector_type": [ - "three_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ @@ -35396,7 +30384,7 @@ "pick", "place" ], - "tasks": "Static", + "tasks": "Place the power supply on the operating table.", "objects": [ { "object_name": "table", @@ -35407,35 +30395,35 @@ "level5": null }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "carton", + "level1": "laboratory_supplies", + "level2": "carton", "level3": null, "level4": null, "level5": null }, { - "object_name": "doll", - "level1": "toys", - "level2": "doll", + "object_name": "battery", + "level1": "tool", + "level2": "battery", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-133026", - "dataset_size": "3.7GB", + "operation_platform_height": null, + "frame_range": "0-30215", + "dataset_size": "17.9GB", "statistics": { - "total_episodes": 388, - "total_frames": 133026, - "total_tasks": 2, - "total_videos": 1164, + "total_episodes": 56, + "total_frames": 30215, + "total_tasks": 1, + "total_videos": 448, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "45f1baec-34a9-4f8d-bc50-3ef2086cf1a9", + "dataset_uuid": "14af3598-fff7-4c0b-bca2-16c57884c70e", "language": [ "en", "zh" @@ -35444,12 +30432,8 @@ "robotics" ], "sub_tasks": [ - "Static", - "Place the pink doll into the plate with the left gripper", - "Grasp the pink doll with the right gripper", - "End", - "Place the pink doll into the plate with the right gripper", - "Grasp the pink doll with the left gripper", + "Place the power supply on the operating table.", + "Grab and lift the power supply from the large box.", "null" ], "annotations": { @@ -35487,679 +30471,163 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_plate_storage_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_plate_storage_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_robotic_arm_picks_up_battery_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_take_and_put_the_bowl": { - "path": "R1_Lite_take_and_put_the_bowl", - "dataset_name": "take_and_put_the_bowl", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" + "Airbot_MMK2_storage_braised_pork_belly_shrimp": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" ], - "tasks": "Place it on the table", - "objects": [ - { - "object_name": "cabinet", - "level1": "furniture", - "level2": "cabinet", - "level3": null, - "level4": null, - "level5": null + "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_braised_pork_belly_shrimp", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "kitchen", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "object_name": "shrimp", + "level1": "prepared_dishes", + "level2": "shrimp", "level3": null, "level4": null, "level5": null }, { - "object_name": "cabinet_door", - "level1": "furniture", - "level2": "cabinet_door", + "object_name": "braised_pork", + "level1": "prepared_dishes", + "level2": "braised_pork", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", - "level1": "container", + "level1": "plates", "level2": "plate", "level3": null, "level4": null, "level5": null - }, - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-189200", - "dataset_size": "7.0GB", - "statistics": { - "total_episodes": 94, - "total_frames": 189200, - "total_tasks": 1, - "total_videos": 282, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "29eb76ea-0c49-4f11-8073-7f7501b77736", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "put the braised pork and shrimp on the plate" ], "sub_tasks": [ - "Place it on the table", - "Put it back into the cabinet", - "Take the plate from the cabinet", - "Pick up the plate from the table", - "Close the cabinet door", - "Pick up the bowl from the table", - "Take the bowl from the cabinet", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_take_and_put_the_bowl_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_take_and_put_the_bowl_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_chop_the_scallions": { - "path": "AIRBOT_MMK2_chop_the_scallions", - "dataset_name": "chop_the_scallions", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "cut" - ], - "tasks": "Grasp the kitchen knife with the right gripper", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the braised pork in brown sauce into the plate with the left gripper", + "subtask_index": 0 }, { - "object_name": "knife", - "level1": "food", - "level2": "green_onion", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-14308", - "dataset_size": "573.9MB", - "statistics": { - "total_episodes": 50, - "total_frames": 14308, - "total_tasks": 1, - "total_videos": 200, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "5beeb056-0ab1-4611-8791-0f80b7dc82d2", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the kitchen knife with the right gripper", - "Press the scallion with the left gripper", - "Place the kitchen knife back on the knife holder with the right gripper", - "Static", - "End", - "Abnormal", - "Cut scallions with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_chop_the_scallions_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_chop_the_scallions_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_box_storage_parcel_f": { - "path": "leju_robot_box_storage_parcel_f", - "dataset_name": "box_storage_parcel_f", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the package into the parcel locker.", - "objects": [ + "subtask": "Grasp the shrimp with the right gripper", + "subtask_index": 1 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the shrimp into the plate with the right gripper", + "subtask_index": 2 }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the cake from the table and with the left gripper", + "subtask_index": 3 }, { - "object_name": "parcel", - "level1": "container", - "level2": "parcel", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 4 }, { - "object_name": "conveyor_belt", - "level1": "industrial_equipment", - "level2": "conveyor_belt", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the braised pork in brown sauce with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "null", + "subtask_index": 6 } ], - "operation_platform_height": null, - "frame_range": "0-185943", - "dataset_size": "9.5GB", - "statistics": { - "total_episodes": 497, - "total_frames": 185943, - "total_tasks": 1, - "total_videos": 1491, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "52fd6211-f929-4608-b45d-501557f97fc8", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the package into the parcel locker.", - "Pick up the package from the inbound machine.", - "Pick up the package from the conveyor belt.", - "Place the package onto the inbound machine.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_box_storage_parcel_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_box_storage_parcel_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_place_plastic_bowl_ag": { - "path": "G1edu-u3_place_plastic_bowl_ag", - "dataset_name": "place_plastic_bowl_ag", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], "atomic_actions": [ + "grasp", "pick", "place" ], - "tasks": "Place the plastic bowl on the table with right gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plastic_bowl", - "level1": "container", - "level2": "plastic_bowl", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-7219", - "dataset_size": "116.0MB", - "statistics": { - "total_episodes": 38, - "total_frames": 7219, - "total_tasks": 1, - "total_videos": 38, - "total_chunks": 1, - "chunks_size": 39, - "fps": 30 - }, - "dataset_uuid": "200d19c3-55a3-44fd-830a-10c1b2f63ed7", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "robot_name": [ + "Airbot_MMK2" ], - "sub_tasks": [ - "Place the plastic bowl on the table with right gripper", - "End", - "Place the plastic bowl on the table with left gripper", - "null" + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_place_plastic_bowl_ag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_place_plastic_bowl_ag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_put_the_pillow_on_the_bed": { - "path": "R1_Lite_put_the_pillow_on_the_bed", - "dataset_name": "put_the_pillow_on_the_bed", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pick up the pillow", - "objects": [ - { - "object_name": "pillow", - "level1": "daily_necessities", - "level2": "pillow", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bed", - "level1": "furniture", - "level2": "bed", - "level3": null, - "level4": null, - "level5": null - } + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" ], - "operation_platform_height": null, - "frame_range": "0-53484", - "dataset_size": "1.7GB", "statistics": { - "total_episodes": 48, - "total_frames": 53484, - "total_tasks": 1, - "total_videos": 144, + "total_episodes": 38, + "total_frames": 5834, + "fps": 30, + "total_tasks": 7, + "total_videos": 152, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "277.59 MB" }, - "dataset_uuid": "c25eff25-52c9-4178-a906-2f1040e89068", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick up the pillow", - "Place the pillow at the end of the bed", - "Move to the head of the bed", - "Move to the foot of the bed", - "Place the pillow at the bedside", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_storage_diamond_ring": { - "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_diamond_ring", - "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": "diamond_ring", - "level1": "daily_necessities", - "level2": "diamond_ring", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "flip_top_paper_boxes", - "level1": "packaging", - "level2": "flip_top_paper_boxes", - "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 ring into the box." - ], - "sub_tasks": [ - { - "subtask": "Place the diamond ring in the box with the right gripper", - "subtask_index": 0 - }, - { - "subtask": "End", - "subtask_index": 1 - }, - { - "subtask": "Close the lid of the box with the left gripper", - "subtask_index": 2 - }, - { - "subtask": "Grasp the diamond ring with the right gripper", - "subtask_index": 3 - }, - { - "subtask": "null", - "subtask_index": 4 - } - ], - "atomic_actions": [ - "grasp", - "place", - "pick", - "turn" - ], - "robot_name": [ - "Airbot_MMK2" - ], - "end_effector_type": "five_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" - ], - "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" - }, - "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", - "annotations": [ - "eef_acc_mag_annotation.jsonl", - "eef_direction_annotation.jsonl", - "eef_velocity_annotation.jsonl", - "gripper_activity_annotation.jsonl", - "gripper_mode_annotation.jsonl", - "scene_annotations.jsonl", - "subtask_annotations.jsonl" - ], - "statistics": { - "total_episodes": 50, - "total_frames": 9131, - "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": "426.97 MB" - }, - "frame_num": 9131, - "dataset_size": "426.97 MB", - "data_structure": "Airbot_MMK2_storage_diamond_ring_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 5834, + "dataset_size": "277.59 MB", + "data_structure": "Airbot_MMK2_storage_braised_pork_belly_shrimp_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (26 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_front_rgb\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:49" + "train": "0:37" }, "features": { "observation.images.cam_head_rgb": { @@ -36513,513 +30981,308 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Airbot_MMK2_storage_block_BBs": { + "alpha_bot_2_stack_building_blocks": { + "path": "alpha_bot_2_stack_building_blocks", + "dataset_name": "stack_building_blocks", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the blue building block with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "building_blocks", + "level1": "toys", + "level2": "building_blocks", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-130049", + "dataset_size": "3.4GB", + "statistics": { + "total_episodes": 139, + "total_frames": 130049, + "total_tasks": 1, + "total_videos": 556, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "f7781909-81c7-40ee-98a5-67783a48dc66", + "language": [ + "en", + "zh" + ], "task_categories": [ "robotics" ], - "language": [ - "en" + "sub_tasks": [ + "Grasp the blue building block with left gripper", + "End", + "Place the pink building block in the center of table with left gripper", + "Grasp the pink building block with left gripper", + "Place the blue building block on the pink building blocks with left gripper", + "Grasp the green building block with left gripper", + "Place the pink building block on the blue building blocks with right gripper", + "Place the green block on the pink block with left gripper", + "Place the blue building block on the blue building blocks with right gripper", + "Place the blue building block on the pink building blocks with right gripper", + "Grasp the blue building block with right gripper", + "Place the pink building block on the blue building blocks with left gripper", + "Place the blue building block on the blue building blocks with left gripper", + "Grasp the pink building block with right gripper", + "Place the pink block on the blue block with right gripper", + "Place the blue building block in the center of table with left gripper", + "null" ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "alpha_bot_2_stack_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "alpha_bot_2_stack_building_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_catch_the_ball": { + "path": "Cobot_Magic_catch_the_ball", + "dataset_name": "catch_the_ball", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_block_BBs", - "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.", + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Put the picked-up object on the table.", "objects": [ { - "object_name": null, - "level1": "bb_pellets", - "level2": "ball", - "level3": "bb_pellets", - "level4": null, - "level5": null - }, - { - "object_name": null, - "level1": "bowl", - "level2": "bowl", - "level3": "bowl", + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, "level4": null, "level5": null }, { - "object_name": null, - "level1": "building_blocks", - "level2": "rectangular_building_blocks", - "level3": "building_blocks", + "object_name": "ball", + "level1": "toy", + "level2": "ball", + "level3": null, "level4": null, "level5": null } ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "put the bb pellets and rectangular building blocks into the bowl." + "operation_platform_height": 77.2, + "frame_range": "0-57085", + "dataset_size": "877.6MB", + "statistics": { + "total_episodes": 98, + "total_frames": 57085, + "total_tasks": 1, + "total_videos": 294, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "3ea12ae6-b4f3-453d-b56f-bca0e5a346c8", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" ], "sub_tasks": [ + "Put the picked-up object on the table.", + "Grab the rolling spherical object.", + "Grab the spherical object with your left arm.", + "Place the sphere on the white object.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_catch_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_open_the_shoebox": { + "path": "Cobot_Magic_open_the_shoebox", + "dataset_name": "open_the_shoebox", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pull" + ], + "tasks": "Open the shoe box", + "objects": [ { - "subtask": "Place the green cuboid block into the bowl with the right gripper", - "subtask_index": 0 - }, - { - "subtask": "Grasp the green cuboid block with the right gripper", - "subtask_index": 1 - }, - { - "subtask": "Grasp the bullet with the left gripper", - "subtask_index": 2 - }, - { - "subtask": "Place the bullet into the bowl with the left gripper", - "subtask_index": 3 - }, - { - "subtask": "End", - "subtask_index": 4 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 5 + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null } ], - "atomic_actions": [ - "pick", - "clip", - "place", - "lift" + "operation_platform_height": 77.2, + "frame_range": "0-185740", + "dataset_size": "2.8GB", + "statistics": { + "total_episodes": 299, + "total_frames": 185740, + "total_tasks": 3, + "total_videos": 897, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "1708df8d-97e4-42b0-a8ee-de1bb93b4d77", + "language": [ + "en", + "zh" ], - "robot_name": [ - "Airbot_MMK2" + "task_categories": [ + "robotics" ], - "end_effector_type": "five_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "sub_tasks": [ + "Open the shoe box", + "null" ], - "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" - }, - "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": 8640, - "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": "282.66 MB" - }, - "frame_num": 8640, - "dataset_size": "282.66 MB", - "data_structure": "Airbot_MMK2_storage_block_BBs_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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\n|-- info.yaml\n`-- README.md", - "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" - } + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } ] }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_open_the_shoebox_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_stir_coffee": { - "path": "RMC-AIDA-L_stir_coffee", - "dataset_name": "stir_coffee", + "RMC-AIDA-L_pour_rice": { + "path": "RMC-AIDA-L_pour_rice", + "dataset_name": "pour_rice", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -37027,12 +31290,11 @@ "scene_type": [], "atomic_actions": [ "grasp", - "take", - "put", - "move", - "stir" + "pick", + "place", + "pour" ], - "tasks": "Stir the coffee in the cup with the right gripper", + "tasks": "Pick up the cup with rice in it with the left gripper", "objects": [ { "object_name": "table", @@ -37043,43 +31305,43 @@ "level5": null }, { - "object_name": "cup", - "level1": "tableware", - "level2": "cup", + "object_name": "rice", + "level1": "food", + "level2": "rice", "level3": null, "level4": null, "level5": null }, { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", + "object_name": "grain_cup", + "level1": "container", + "level2": "grain_cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "rice_cooker", + "level1": "home_appliances", + "level2": "rice_cooker", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-555807", - "dataset_size": "3.6GB", + "frame_range": "0-413739", + "dataset_size": "2.9GB", "statistics": { - "total_episodes": 767, - "total_frames": 555807, - "total_tasks": 8, - "total_videos": 2301, + "total_episodes": 714, + "total_frames": 413739, + "total_tasks": 2, + "total_videos": 2142, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "ee676d19-f3d4-4c11-bb83-9a2474cf77c5", + "dataset_uuid": "c79b49bf-cadf-4094-831d-bbf6403956c6", "language": [ "en", "zh" @@ -37088,21 +31350,21 @@ "robotics" ], "sub_tasks": [ - "Stir the coffee in the cup with the right gripper", - "Stir the coffee with right gripper", - "Abnormal", - "Move the cup with coffee to the center of view with the right gripper", - "Static", - "Move the cup in the center of the table with right gripper", - "Grasp the spoon with left gripper", - "Move the cup with coffee to the center of view with the left gripper", - "Stir the coffee in the cup with the left gripper", - "Grasp the spoon with right gripper", + "Pick up the cup with rice in it with the left gripper", "End", - "Stir the coffee with left gripper", - "Move the cup in the center of the table with left gripper", - "Pick up the spoon with the left gripper", - "Pick up the spoon with the right gripper", + "Move the bowl in the center of view with left gripper", + "Pick up the bowl with the left gripper", + "Place the cup on the table with the right gripper", + "Pour the rice from the cup into the bowl with the left gripper", + "Place the bowl in the center of view with the right gripper", + "Static", + "Place the cup on the table with the left gripper", + "Pour the rice from the cup into the bowl with the right gripper", + "Pick up the cup with rice in it with the right gripper", + "Pick up the bowl with the right gripper", + "Place the bowl in the center of view with the left gripper", + "Grasp the cup with rice in it with right gripper", + "abnormal", "null" ], "annotations": { @@ -37140,700 +31402,500 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_stack_cubic_block": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" + "AIRBOT_MMK2_bowl_storage_pepper": { + "path": "AIRBOT_MMK2_bowl_storage_pepper", + "dataset_name": "bowl_storage_pepper", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" ], - "tags": [ - "RoboCOIN", - "LeRobot" + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "license": "apache-2.0", - "configs": [ + "tasks": "Place the white bowl on the pink bowl with the left gripper", + "objects": [ { - "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\"" + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_stack_cubic_block", - "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": "square_building_blocks", - "level1": "toys", - "level2": "square_building_blocks", + "object_name": "chili_pepper", + "level1": "vegetables", + "level2": "chili_pepper", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pumpkin", + "level1": "vegetables", + "level2": "pumpkin", "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 left and right hands respectively and place them on the blocks." + "operation_platform_height": 77.2, + "frame_range": "0-19594", + "dataset_size": "715.7MB", + "statistics": { + "total_episodes": 150, + "total_frames": 19594, + "total_tasks": 3, + "total_videos": 600, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "83f67fd9-c480-4786-ae1d-41475a4f4618", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" ], "sub_tasks": [ + "Place the white bowl on the pink bowl with the left gripper", + "Grasp the white bowl with the left gripper", + "Static", + "End", + "Abnormal", + "Grasp the pumpkin with the left gripper", + "Place the pumpkin on the pink bowl with the left gripper", + "Grasp the yellow round chili pepper with the right gripper", + "Place yellow round chili pepper on the blue bowl with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_bowl_storage_pepper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_move_the_position_of_the_cookie": { + "path": "R1_Lite_move_the_position_of_the_cookie", + "dataset_name": "move_the_position_of_the_cookie", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Place the cookie on the table with right gripper", + "objects": [ { - "subtask": "Grasp the blue build blocks with the right gripper", - "subtask_index": 0 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "End", - "subtask_index": 1 + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the blue build blocks on the red build block with the right gripper", - "subtask_index": 2 + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the yellow build blocks on the orange build block with the right gripper", - "subtask_index": 3 + "object_name": "bath_ball", + "level1": "daily_necessities", + "level2": "bath_ball", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the red build blocks on the center of the table with the left gripper", - "subtask_index": 4 + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the orange build blocks on the yellow build block with the right gripper", - "subtask_index": 5 + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the blue build blocks with the left gripper", - "subtask_index": 6 + "object_name": "can", + "level1": "container", + "level2": "can", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the red build blocks with the left gripper", - "subtask_index": 7 + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Abnormal", - "subtask_index": 8 + "object_name": "hard_cleanser", + "level1": "daily_necessities", + "level2": "hard_cleanser", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the orange build blocks with the right gripper", - "subtask_index": 9 + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the blue build blocks on the red build block with the left gripper", - "subtask_index": 10 + "object_name": "peeler", + "level1": "tool", + "level2": "peeler", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the yellow build blocks with the right gripper", - "subtask_index": 11 + "object_name": "block", + "level1": "toy", + "level2": "block", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 12 - } - ], - "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": 162, - "total_frames": 48691, - "fps": 30, - "total_tasks": 13, - "total_videos": 648, - "total_chunks": 1, - "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "1.92 GB" - }, - "frame_num": 48691, - "dataset_size": "1.92 GB", - "data_structure": "Airbot_MMK2_stack_cubic_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| `-- ... (150 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": "0:161" - }, - "features": { - "observation.images.cam_head_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } + "object_name": "duck", + "level1": "toy", + "level2": "duck", + "level3": null, + "level4": null, + "level5": null }, - "observation.images.cam_left_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } + { + "object_name": "soap", + "level1": "daily_necessities", + "level2": "soap", + "level3": null, + "level4": null, + "level5": null }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null }, - "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 - } + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null }, - "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" - ] + { + "object_name": "cola", + "level1": "drink", + "level2": "cola", + "level3": null, + "level4": null, + "level5": null }, - "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" - ] + { + "object_name": "detergent", + "level1": "daily_necessities", + "level2": "detergent", + "level3": null, + "level4": null, + "level5": null }, - "timestamp": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": null + { + "object_name": "egg_beater", + "level1": "electrical_appliances", + "level2": "egg_beater", + "level3": null, + "level4": null, + "level5": null }, - "frame_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null }, - "episode_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null + { + "object_name": "orange", + "level1": "fruit", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null }, - "index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null }, - "task_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null + { + "object_name": "marker", + "level1": "office_supplies", + "level2": "marker", + "level3": null, + "level4": null, + "level5": null }, - "subtask_annotation": { - "names": null, - "shape": [ - 5 - ], - "dtype": "int32" + { + "object_name": "rubiks_cube", + "level1": "toy", + "level2": "rubiks_cube", + "level3": null, + "level4": null, + "level5": null }, - "scene_annotation": { - "names": null, - "shape": [ - 1 - ], - "dtype": "int32" + { + "object_name": "bread_slice", + "level1": "food", + "level2": "bread_slice", + "level3": null, + "level4": null, + "level5": null }, - "eef_sim_pose_state": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" + { + "object_name": "brush", + "level1": "daily_necessities", + "level2": "brush", + "level3": null, + "level4": null, + "level5": null }, - "eef_sim_pose_action": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" + { + "object_name": "yogurt", + "level1": "drink", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null }, - "eef_direction_state": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "power_strip", + "level1": "electric_appliance", + "level2": "power_strip", + "level3": null, + "level4": null, + "level5": null }, - "eef_direction_action": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "milk", + "level1": "drink", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null }, - "eef_velocity_state": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "soda", + "level1": "drink", + "level2": "soda", + "level3": null, + "level4": null, + "level5": null }, - "eef_velocity_action": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "lime", + "level1": "fruit", + "level2": "lime", + "level3": null, + "level4": null, + "level5": null }, - "eef_acc_mag_state": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "coffee_capsule", + "level1": "drink", + "level2": "coffee_capsule", + "level3": null, + "level4": null, + "level5": null }, - "eef_acc_mag_action": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" - } - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" - } - ] - }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" - }, - "G1edu-u3_bowl_storage_grape_singletry": { - "path": "G1edu-u3_bowl_storage_grape_singletry", - "dataset_name": "bowl_storage_grape_singletry", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Grasp the grapes with left hand", - "objects": [ { - "object_name": "table", + "object_name": "dish", + "level1": "container", + "level2": "dish", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glass", "level1": "furniture", - "level2": "table", + "level2": "glass", "level3": null, "level4": null, "level5": null }, { - "object_name": "bread", + "object_name": "egg_yolk_pastry", "level1": "food", - "level2": "bread", + "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "bowl", - "level2": "bowl", + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-119619", - "dataset_size": "2.4GB", - "statistics": { - "total_episodes": 242, - "total_frames": 119619, - "total_tasks": 1, - "total_videos": 726, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "40947b8c-339b-414f-94d9-6d5f24520362", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the grapes with left hand", - "Grasp the bread with the left gripper", - "Static", - "End", - "Place the bread the bowl with the left gripper", - "Place the grapes in the plate with left hand", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "RMC-AIDA-L_fruit_storage": { - "path": "RMC-AIDA-L_fruit_storage", - "dataset_name": "fruit_storage", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "gum", + "level1": "daily_necessities", + "level2": "gum", "level3": null, "level4": null, "level5": null }, { - "object_name": "grape", - "level1": "fruit", - "level2": "grape", + "object_name": "tape", + "level1": "daily_necessities", + "level2": "tape", "level3": null, "level4": null, "level5": null }, { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", + "object_name": "soft_cleanser", + "level1": "daily_necessities", + "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "chips", + "level1": "food", + "level2": "chips", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-291785", - "dataset_size": "2.6GB", + "frame_range": "0-5045", + "dataset_size": "198.3MB", "statistics": { - "total_episodes": 521, - "total_frames": 291785, - "total_tasks": 2, - "total_videos": 1563, + "total_episodes": 25, + "total_frames": 5045, + "total_tasks": 1, + "total_videos": 100, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "8276223a-988a-4a97-8459-97f7c498cbb5", + "dataset_uuid": "7015670f-e702-4c08-a662-e74aee0c0872", "language": [ "en", "zh" @@ -37842,21 +31904,13 @@ "robotics" ], "sub_tasks": [ - "End", - "Place the grape in the purple plate with left gripper", - "Grasp the grape with right gripper", - "Place the banana in the purple plate with right gripper", - "Place the banana in the blue bowl with left gripper", - "Grasp the banana with right gripper", - "Grasp the grape with left gripper", - "Place the bowl on the table with right gripper", - "Place the grape in the purple plate with right gripper", - "Place the banana in the purple plate with left gripper", - "Lift the blue bowl with right gripper", - "Grasp the blue bowl with right gripper", + "Place the cookie on the table with right gripper", "Static", + "Place the cookie on the table with left gripper", + "End", + "Grasp the cookie with right gripper", + "Grasp the cookie with left gripper", "Abnormal", - "Grasp the banana with left gripper", "null" ], "annotations": { @@ -37894,276 +31948,54 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_fruit_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_fruit_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_move_the_position_of_the_cookie_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_cookie_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_pick_up_the_bottled_water_as": { - "path": "G1edu-u3_pick_up_the_bottled_water_as", - "dataset_name": "pick_up_the_bottled_water_as", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" + "Airbot_MMK2_move_tub": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick" + "language": [ + "en" ], - "tasks": "Grasp the water bottle and lift it to the center of the view with right gripper", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_move_tub", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "kitchen", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bottle", - "level1": "container", - "level2": "bottle", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "water", - "level1": "beverages", - "level2": "water", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-9753", - "dataset_size": "116.6MB", - "statistics": { - "total_episodes": 24, - "total_frames": 9753, - "total_tasks": 1, - "total_videos": 24, - "total_chunks": 1, - "chunks_size": 24, - "fps": 30 - }, - "dataset_uuid": "a5f8649a-a1ab-415a-9fd4-b48b04fab77e", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the water bottle and lift it to the center of the view with right gripper", - "Grasp the water bottle and lift it to the center of the view with left gripper", - "End", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_pick_up_the_tissue_box_ao": { - "path": "G1edu-u3_pick_up_the_tissue_box_ao", - "dataset_name": "pick_up_the_tissue_box_ao", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick" - ], - "tasks": "Grasp the tissue box and lift it to the center of the view with both gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tissue", - "level1": "daily_necessities", - "level2": "tissue", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-21166", - "dataset_size": "273.8MB", - "statistics": { - "total_episodes": 29, - "total_frames": 21166, - "total_tasks": 1, - "total_videos": 29, - "total_chunks": 1, - "chunks_size": 29, - "fps": 30 - }, - "dataset_uuid": "3adf4438-1317-4ffb-9447-b4dd516c8559", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the tissue box and lift it to the center of the view with both gripper", - "End", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_take_dog_doll": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } - ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_take_dog_doll", - "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": "toy_dog", - "level1": "doll", - "level2": "toy_dog", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lid", - "level1": "storage_utensils", - "level2": "lid", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null @@ -38171,15 +32003,15 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "pick up the toy dog from the white lid by hand and place it on the table." + "pass the plate to your right hand with your left hand and then put it down." ], "sub_tasks": [ { - "subtask": "Place the puppy on the table with the left and right grippers", + "subtask": "Grasp the white box with left gripper", "subtask_index": 0 }, { - "subtask": "Grasp the puppy with the left and right grippers", + "subtask": "Place the white box in the center of table with right gripper", "subtask_index": 1 }, { @@ -38187,8 +32019,12 @@ "subtask_index": 2 }, { - "subtask": "null", + "subtask": "Pass the white box to right gripper", "subtask_index": 3 + }, + { + "subtask": "null", + "subtask_index": 4 } ], "atomic_actions": [ @@ -38228,23 +32064,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 50, - "total_frames": 6425, + "total_episodes": 37, + "total_frames": 11634, "fps": 30, - "total_tasks": 4, - "total_videos": 200, + "total_tasks": 5, + "total_videos": 148, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "253.22 MB" + "dataset_size": "340.31 MB" }, - "frame_num": 6425, - "dataset_size": "253.22 MB", - "data_structure": "Airbot_MMK2_take_dog_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| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 11634, + "dataset_size": "340.31 MB", + "data_structure": "Airbot_MMK2_move_tub_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (25 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", "splits": { - "train": "0:49" + "train": "0:36" }, "features": { "observation.images.cam_head_rgb": { @@ -38598,20 +32434,19 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Split_aloha_basket_storage_orange": { - "path": "Split_aloha_basket_storage_orange", - "dataset_name": "basket_storage_orange", + "G1edu-u3_put_the_lemon_af": { + "path": "G1edu-u3_put_the_lemon_af", + "dataset_name": "put_the_lemon_af", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "place" ], - "tasks": "Place the basket in the center of view with left gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -38622,35 +32457,27 @@ "level5": null }, { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "basket", - "level1": "container", - "level2": "basket", + "object_name": "lemon", + "level1": "fruits", + "level2": "lemon", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-293847", - "dataset_size": "6.1GB", + "operation_platform_height": null, + "frame_range": "0-3544", + "dataset_size": "37.1MB", "statistics": { - "total_episodes": 642, - "total_frames": 293847, + "total_episodes": 19, + "total_frames": 3544, "total_tasks": 1, - "total_videos": 1926, + "total_videos": 19, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 19, "fps": 30 }, - "dataset_uuid": "f478bc5f-0850-4241-9c9b-cea1674f8e67", + "dataset_uuid": "c37586ed-bc01-40b2-9038-cd26ce06df5b", "language": [ "en", "zh" @@ -38659,13 +32486,9 @@ "robotics" ], "sub_tasks": [ - "Place the basket in the center of view with left gripper", - "Place the orange in the basket with right gripper", - "Grasp the orange with right gripper", - "Grasp the basket with left gripper", "End", - "Abnormal", - "Static", + "Place the lemon on the table with right gripper", + "Place the lemon on the table with left gripper", "null" ], "annotations": { @@ -38703,209 +32526,523 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Split_aloha_basket_storage_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_basket_storage_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_put_the_lemon_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_build_blocks": { - "path": "R1_Lite_build_blocks", - "dataset_name": "build_blocks", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Place the arch-shaped block in the center of view with the left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "blocks", - "level1": "toy", - "level2": "blocks", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-59296", - "dataset_size": "1.8GB", - "statistics": { - "total_episodes": 66, - "total_frames": 59296, - "total_tasks": 1, - "total_videos": 264, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "a56eff90-9eaa-4804-91c6-27e733d07c46", - "language": [ - "en", - "zh" - ], + "Airbot_MMK2_take_drink": { "task_categories": [ "robotics" ], - "sub_tasks": [ - "Place the arch-shaped block in the center of view with the left gripper", - "Grasp the arch-shaped block with the left gripper", - "Place the triangle-shaped block onto the box-shaped block with the left grippe", - "Grasp the box-shaped block with the right gripper", - "Place the box-shaped block onto the arch-shaped block with the right gripper", - "Static", - "End", - "Grasp the triangle-shaped block with the left gripper", - "null" + "language": [ + "en" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_build_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_build_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_pick_empty_bottle_ab": { - "path": "G1edu-u3_pick_empty_bottle_ab", - "dataset_name": "pick_empty_bottle_ab", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick" + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } ], - "tasks": "End", + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_take_drink", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "convenience", + "level2": "supermarket", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "any_beverages", + "level1": "beverages", + "level2": "any_beverages", "level3": null, "level4": null, "level5": null }, { - "object_name": "empty_bottle", - "level1": "mineral_water", - "level2": "empty_bottle", + "object_name": "paper_cup", + "level1": "cups", + "level2": "paper_cup", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-3290", - "dataset_size": "45.4MB", - "statistics": { - "total_episodes": 11, - "total_frames": 3290, - "total_tasks": 1, - "total_videos": 11, - "total_chunks": 1, - "chunks_size": 11, - "fps": 30 - }, - "dataset_uuid": "e8eb32c9-9e05-4189-9718-badce6a3ac0b", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "pick up the drink by hand and put it on the table." ], "sub_tasks": [ - "End", - "Grasp the cola bottle and lift it to the center of the view with right gripper ", - "Grasp the cola bottle and lift it to the center of the view with left gripper  ", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + { + "subtask": "Place the coffee on the table with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the vitamin B water on the table with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Abnormal", + "subtask_index": 2 + }, + { + "subtask": "Place the vitamin B water on the table with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Place the coffee on the table with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Grasp the vitamin B water on the white lid with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "Grasp the vitamin B water on the white lid with the right gripper", + "subtask_index": 6 + }, + { + "subtask": "End", + "subtask_index": 7 + }, + { + "subtask": "Grasp the coffee on the white lid with the right gripper", + "subtask_index": 8 + }, + { + "subtask": "null", + "subtask_index": 9 + } + ], + "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": 86, + "total_frames": 17345, + "fps": 30, + "total_tasks": 10, + "total_videos": 344, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "570.83 MB" + }, + "frame_num": 17345, + "dataset_size": "570.83 MB", + "data_structure": "Airbot_MMK2_take_drink_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (74 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:85" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } }, "authors": { "contributed_by": [ { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_empty_bottle_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_empty_bottle_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "R1_Lite_open_and_close_microwave_oven": { - "path": "R1_Lite_open_and_close_microwave_oven", - "dataset_name": "open_and_close_microwave_oven", + "Cobot_Magic_place_square_pyramid": { + "path": "Cobot_Magic_place_square_pyramid", + "dataset_name": "place_square_pyramid", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -38914,51 +33051,48 @@ "atomic_actions": [ "grasp", "pick", - "place", - "push", - "pull", - "pressbutton" + "place" ], - "tasks": "Put the microwave back in its original place", + "tasks": "Place the block onto the cube-shaped block", "objects": [ { - "object_name": "french_fries", - "level1": "food", - "level2": "french_fries", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "cube_block", + "level1": "toy", + "level2": "cube_block", "level3": null, "level4": null, "level5": null }, { - "object_name": "microwave", - "level1": "electric_appliance", - "level2": "microwave", + "object_name": "square_pyramid", + "level1": "toy", + "level2": "square_pyramid", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-183612", - "dataset_size": "7.7GB", + "operation_platform_height": 77.2, + "frame_range": "0-25851", + "dataset_size": "521.2MB", "statistics": { - "total_episodes": 117, - "total_frames": 183612, + "total_episodes": 99, + "total_frames": 25851, "total_tasks": 1, - "total_videos": 351, + "total_videos": 297, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "1b797b37-4aab-43be-9f02-cfcf030be8ff", + "dataset_uuid": "53a89b6b-14be-4a0e-8495-f3310b2ba5bd", "language": [ "en", "zh" @@ -38967,116 +33101,10 @@ "robotics" ], "sub_tasks": [ - "Put the microwave back in its original place", - "Take the plate out of the microwave", - "Close the microwave oven", - "Open the microwave oven", - "Put the plate in the microwave oven", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_pull_zipper": { - "path": "Cobot_Magic_pull_zipper", - "dataset_name": "pull_zipper", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pull" - ], - "tasks": "Pull the zipper with right gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bag", - "level1": "container", - "level2": "bag", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-836317", - "dataset_size": "11.0GB", - "statistics": { - "total_episodes": 1868, - "total_frames": 836317, - "total_tasks": 6, - "total_videos": 5604, - "total_chunks": 2, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "3ede76ea-63fb-4de1-a796-a3809b4e09fa", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pull the zipper with right gripper", - "Pull open the zipper with your left hand.", - "Grasp the bag with left gripper", - "Hold the bag with your right hand.", + "Place the block onto the cube-shaped block", + "Place the triangular block onto the cube block", "End", - "Zip up the bag with your left hand.", - "Zip up the bag with your right hand.", - "Grasp the bag with right gripper", - "Pull the zipper with left gripper", - "Grab the zipper with your left hand.", - "Discard.", - "Pull open the zipper with your right hand.", - "Hold the bag with your left hand.", + "Grasp the triangular block", "null" ], "annotations": { @@ -39114,87 +33142,46 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_pull_zipper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", - "structure": "Cobot_Magic_pull_zipper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_place_square_pyramid_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_pullBowl_storage_bread_unordered_b": { - "path": "G1edu-u3_pullBowl_storage_bread_unordered_b", - "dataset_name": "pullBowl_storage_bread_unordered_b", + "alpha_bot_2_carry_the_clothes_basket": { + "path": "alpha_bot_2_carry_the_clothes_basket", + "dataset_name": "carry_the_clothes_basket", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", "pick", - "place", - "receive" + "place" ], - "tasks": "Abnormal", + "tasks": "Move the basket above the other table", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "faucet", - "level1": "water_dispenser", - "level2": "faucet", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cup", - "level1": "kitchen_supplies", - "level2": "cup", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "orange_juice", - "level1": "drink", - "level2": "orange_juice", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cola", - "level1": "beverages", - "level2": "cola", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "sprite", - "level1": "beverages", - "level2": "sprite", + "object_name": "clothes_basket", + "level1": "container", + "level2": "clothes_basket", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-118843", - "dataset_size": "2.3GB", + "operation_platform_height": null, + "frame_range": "0-46527", + "dataset_size": "2.5GB", "statistics": { - "total_episodes": 190, - "total_frames": 118843, + "total_episodes": 50, + "total_frames": 46527, "total_tasks": 1, - "total_videos": 570, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a50", + "dataset_uuid": "0df48917-c10a-469f-8f74-d57f284c09cd", "language": [ "en", "zh" @@ -39203,13 +33190,14 @@ "robotics" ], "sub_tasks": [ - "Abnormal", - "Place the long bread in pink bowl with left hand", + "Move the basket above the other table", + "Grasp the basket with both grippers", + "Grasp the basket with left gripper", + "Grasp the basket with right gripper", "End", - "Grasp the round bread with left hand", - "Grasp the long bread with left hand", - "Place the round bread in pink bowl with left hand", - "Move the pink bowl to the center of table with right hand", + "Place the basket on the table with right gripper", + "Place the basket on the table with both grippers", + "Place the basket on the table with left gripper", "null" ], "annotations": { @@ -39247,12 +33235,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "alpha_bot_2_carry_the_clothes_basket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_place_the_cake": { - "path": "AIRBOT_MMK2_place_the_cake", - "dataset_name": "place_the_cake", + "AIRBOT_MMK2_place_the_basin": { + "path": "AIRBOT_MMK2_place_the_basin", + "dataset_name": "place_the_basin", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -39263,7 +33251,7 @@ "pick", "place" ], - "tasks": "Place the cake on the yellow cube block with the left gripper", + "tasks": "Static", "objects": [ { "object_name": "table", @@ -39274,75 +33262,27 @@ "level5": null }, { - "object_name": "cake", - "level1": "food", - "level2": "cake", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "building_blocks", - "level1": "toy", - "level2": "building_blocks", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "ice_cream", - "level1": "food", - "level2": "ice_cream", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "small_basin", - "level1": "container", - "level2": "small_basin", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lid", + "object_name": "basin", "level1": "container", - "level2": "lid", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "swiss_roll", - "level1": "food", - "level2": "swiss_roll", + "level2": "basin", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-50001", - "dataset_size": "2.3GB", + "frame_range": "0-7672", + "dataset_size": "272.9MB", "statistics": { - "total_episodes": 249, - "total_frames": 50001, - "total_tasks": 5, - "total_videos": 996, + "total_episodes": 50, + "total_frames": 7672, + "total_tasks": 1, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "9dd9223d-2d05-47a8-bfd0-0884a7f571ed", + "dataset_uuid": "14a514fa-2a43-4b79-bcf6-c7d01e427623", "language": [ "en", "zh" @@ -39351,25 +33291,15 @@ "robotics" ], "sub_tasks": [ - "Place the cake on the yellow cube block with the left gripper", - "Grasp the bagged cake with the left gripper", - "Grasp the cake on the plate with the right gripper", - "Place the cake on the table with the right gripper", - "Abnormal", "Static", - "Grasp the cake with the left gripper", - "Place the ice cream into the white basket with the right gripper", - "Place the cake into the white basket with the left gripper", - "Place the ice cream into the white basket with the left gripper", - "Grasp the ice cream with the right gripper", - "Grasp the ice cream with the left gripper", - "Grasp the bagged cake with the right gripper", - "Place the cake into the white plate with the left gripper", - "Place the bagged cake on the white plate with the left gripper", + "Place the basin on the table with the right gripper", + "Grasp the basin with the right gripper", "End", - "Grasp the cake with the right gripper", - "Place the bagged cake on the white plate with the right gripper", - "Place the cake on the blue cube block with the right gripper", + "Lift the basin with the left gripper ", + "Grasp the basin with the left gripper ", + "Lift the basin with the right gripper", + "Place the basin on the table with the left gripper ", + "Abnormal", "null" ], "annotations": { @@ -39407,24 +33337,22 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_cake_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_place_the_cake_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_place_the_basin_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_place_the_basin_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Split_aloha_pour_rice": { - "path": "Split_aloha_pour_rice", - "dataset_name": "pour_rice", + "G1edu-u3_basket_storage_apple_b": { + "path": "G1edu-u3_basket_storage_apple_b", + "dataset_name": "basket_storage_apple_b", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ - "place", "pick", - "grasp", - "pour" + "place" ], - "tasks": "Grasp the cup with rice in it with left gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -39435,43 +33363,35 @@ "level5": null }, { - "object_name": "rice", - "level1": "food", - "level2": "rice", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rice_container", - "level1": "container", - "level2": "rice_container", + "object_name": "basket", + "level1": "home_storage", + "level2": "basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "cup", - "level1": "container", - "level2": "cup", + "object_name": "apple", + "level1": "fruit", + "level2": "apple", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-504182", - "dataset_size": "4.9GB", + "operation_platform_height": null, + "frame_range": "0-118352", + "dataset_size": "2.3GB", "statistics": { - "total_episodes": 740, - "total_frames": 504182, + "total_episodes": 241, + "total_frames": 118352, "total_tasks": 1, - "total_videos": 2220, + "total_videos": 723, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "004a37ce-a00a-4547-a5a0-0538af2c8a99", + "dataset_uuid": "8c0ab1ee-eb0f-48a0-a7be-ff698d2f4651", "language": [ "en", "zh" @@ -39480,17 +33400,9 @@ "robotics" ], "sub_tasks": [ - "Grasp the cup with rice in it with left gripper", - "Place the bowl in the center of view with the right gripper", "End", - "Place the cup on the table with the left gripper", - "Static", - "Pick up the bowl with the right gripper", - "Abnormal", - "Move the bowl in the center of view with right gripper", - "Move the bowl to the center of view with the right gripper", - "Pick up the cup with rice in it with the left gripper", - "Pour the rice from the cup into the bowl with the left gripper", + "Place the grapes in the plate with left hand", + "Grasp the grapes with left hand", "null" ], "annotations": { @@ -39528,10 +33440,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Split_aloha_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_basket_storage_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_basket_storage_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galaxea_R1_Lite_mix_blue_yellow_right": { + "Galaxea_R1_Lite_classify_object_six": { "task_categories": [ "robotics" ], @@ -39561,11 +33473,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_mix_blue_yellow_right", + "dataset_name": "Galaxea_R1_Lite_classify_object_six", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "office_workspace", - "level2": "office", + "level1": "commercial_convenience", + "level2": "supermarket", "level3": null, "level4": null, "level5": null @@ -39573,49 +33485,49 @@ "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", + "object_name": "brown_basket", + "level1": "baskets", + "level2": "brown_basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "red_pigment", - "level1": "materials", - "level2": "red_pigment", + "object_name": "yellow_basket", + "level1": "baskets", + "level2": "yellow_basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "yellow_pigment", - "level1": "materials", - "level2": "yellow_pigment", + "object_name": "any_fruits", + "level1": "fruits", + "level2": "any_fruits", "level3": null, "level4": null, "level5": null }, { - "object_name": "test_tube_rack", - "level1": "holding_utensils", - "level2": "test_tube_rack", + "object_name": "any_vegetables", + "level1": "vegetables", + "level2": "any_vegetables", "level3": null, "level4": null, "level5": null }, { - "object_name": "test_tubes", - "level1": "laboratory_supplies", - "level2": "test_tubes", + "object_name": "any_snacks", + "level1": "snacks", + "level2": "any_snacks", "level3": null, "level4": null, "level5": null }, { - "object_name": "beaker", - "level1": "holding_utensils", - "level2": "beaker", + "object_name": "any_bread", + "level1": "bread", + "level2": "any_bread", "level3": null, "level4": null, "level5": null @@ -39623,172 +33535,395 @@ ], "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." + "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": "Abnormal", + "subtask": "Grasp the round bread and put it in the right basket", "subtask_index": 0 }, { - "subtask": "Place the test tube into the bowl with right gripper", + "subtask": "Grasp the small basket containing bread and put it in the right basket", "subtask_index": 1 }, { - "subtask": "Grasp the red reagent with the left gripper", + "subtask": "Grasp the lemon and put it in the right basket", "subtask_index": 2 }, { - "subtask": "Pour the blue reagent into the graduated cylinder with right gripper", + "subtask": "Grasp the egg yolk pastry and put it in the right basket", "subtask_index": 3 }, { - "subtask": "Pick up the test tube containing the yellow reagent with right gripper", + "subtask": "Grasp the can and put it in the right basket", "subtask_index": 4 }, { - "subtask": "Grasp the yellow reagent with the right gripper", + "subtask": "Grasp the apple and put it in the right basket", "subtask_index": 5 }, { - "subtask": "Grasp the red reagent with the right gripper", + "subtask": "Grasp the long bread and put it in the right basket", "subtask_index": 6 }, { - "subtask": "Place the test tube into the bowl with the right gripper", + "subtask": "Grasp the canned cola and put it in the right basket", "subtask_index": 7 }, { - "subtask": "Pour the yellow reagent into the graduated cylinder with the right gripper", + "subtask": "Grasp the back scratcher and put it in the left basket", "subtask_index": 8 }, { - "subtask": "End", + "subtask": "Grasp the glasses case and put it in the left basket", "subtask_index": 9 }, { - "subtask": "Pour the blue reagent into the graduated cylinder with the right gripper", + "subtask": "Grasp the peeler and put it in the left basket", "subtask_index": 10 }, { - "subtask": "Pour the yellow reagent into the graduated cylinder with right gripper", + "subtask": "Grasp the cookie and put it in the right basket", "subtask_index": 11 }, { - "subtask": "Pick up the test tube containing the blue reagent with right gripper", + "subtask": "Grasp the yellow duck and put it in the right basket", "subtask_index": 12 }, { - "subtask": "Pour the red reagent into the graduated cylinder with the right gripper", + "subtask": "Grasp the cleaning agent and put it in the left basket", "subtask_index": 13 }, { - "subtask": "end", + "subtask": "Grasp the soft cleanser and put it in the left basket", "subtask_index": 14 }, { - "subtask": "Grasp the blue reagent with the right gripper", + "subtask": "Grasp the waffle and put it in the right basket", "subtask_index": 15 }, { - "subtask": "null", + "subtask": "Grasp the grey towel and put it in the left basket", "subtask_index": 16 - } - ], - "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": 50, - "total_frames": 32657, - "fps": 30, - "total_tasks": 17, - "total_videos": 200, - "total_chunks": 1, - "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, - "camera_views": 4, - "dataset_size": "665.69 MB" - }, - "frame_num": 32657, - "dataset_size": "665.69 MB", - "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_mix_blue_yellow_right_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", - "splits": { - "train": "0:49" - }, - "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, + { + "subtask": "Grasp the orange and put it in the right basket", + "subtask_index": 17 + }, + { + "subtask": "Grasp the brown towel and put it in the left basket", + "subtask_index": 18 + }, + { + "subtask": "Grasp the pen container and put it in the left basket", + "subtask_index": 19 + }, + { + "subtask": "Grasp the hard cleanser and put it in the left basket", + "subtask_index": 20 + }, + { + "subtask": "Grasp the canned cola and put it in the left basket", + "subtask_index": 21 + }, + { + "subtask": "Grasp the triangle cake and put it in the right basket", + "subtask_index": 22 + }, + { + "subtask": "Grasp the shower sphere and put it in the left basket", + "subtask_index": 23 + }, + { + "subtask": "Grasp the rubiks cube and put it in the right basket", + "subtask_index": 24 + }, + { + "subtask": "Grasp the broom and put it in the left basket", + "subtask_index": 25 + }, + { + "subtask": "Grasp the white eraser and put it in the left basket", + "subtask_index": 26 + }, + { + "subtask": "Grasp the milk and put it in the right basket", + "subtask_index": 27 + }, + { + "subtask": "Grasp the lime and put it in the right basket", + "subtask_index": 28 + }, + { + "subtask": "Grasp the brown towel and put it in the right basket", + "subtask_index": 29 + }, + { + "subtask": "Grasp the duck toys and put it in the left basket", + "subtask_index": 30 + }, + { + "subtask": "Grasp the power strip and put it in the left basket", + "subtask_index": 31 + }, + { + "subtask": "Grasp the red duck and put it in the left basket", + "subtask_index": 32 + }, + { + "subtask": "Grasp the shampoo and put it in the left basket", + "subtask_index": 33 + }, + { + "subtask": "Grasp the yellow duck and put it in the left basket", + "subtask_index": 34 + }, + { + "subtask": "Grasp the peach and put it in the right basket", + "subtask_index": 35 + }, + { + "subtask": "Abnormal", + "subtask_index": 36 + }, + { + "subtask": "Grasp the tea cup and put it in the left basket", + "subtask_index": 37 + }, + { + "subtask": "Grasp the pink marker and put it in the left basket", + "subtask_index": 38 + }, + { + "subtask": "Grasp the brush and put it in the left basket", + "subtask_index": 39 + }, + { + "subtask": "Grasp the washing liquid and put it in the left basket", + "subtask_index": 40 + }, + { + "subtask": "Place the rubiks cube in the center of the table", + "subtask_index": 41 + }, + { + "subtask": "Grasp the soap and put it in the left basket", + "subtask_index": 42 + }, + { + "subtask": "Grasp the grey towel and put it in the right basket", + "subtask_index": 43 + }, + { + "subtask": "Grasp the blue marker and put it in the left basket", + "subtask_index": 44 + }, + { + "subtask": "Grasp the black glass cup and put it in the left basket", + "subtask_index": 45 + }, + { + "subtask": "Grasp the bath ball and put it in the left basket", + "subtask_index": 46 + }, + { + "subtask": "Grasp the coke and put it in the right basket", + "subtask_index": 47 + }, + { + "subtask": "Grasp the potato chips and put it in the right basket", + "subtask_index": 48 + }, + { + "subtask": "Grasp the ballpoint pen and put it in the left basket", + "subtask_index": 49 + }, + { + "subtask": "Grasp the rubiks cube and put it in the left basket", + "subtask_index": 50 + }, + { + "subtask": "Grasp the square chewing gum and put it in the right basket", + "subtask_index": 51 + }, + { + "subtask": "Grasp the glasses case and put it in the right basket", + "subtask_index": 52 + }, + { + "subtask": "Grasp the banana and put it in the right basket", + "subtask_index": 53 + }, + { + "subtask": "Grasp the ad milk and put it in the right basket", + "subtask_index": 54 + }, + { + "subtask": "Grasp the soda water and put it in the right basket", + "subtask_index": 55 + }, + { + "subtask": "Grasp the peach doll and put it in the right basket", + "subtask_index": 56 + }, + { + "subtask": "Grasp the spoon and put it in the left basket", + "subtask_index": 57 + }, + { + "subtask": "Grasp the blue marker and put it in the right basket", + "subtask_index": 58 + }, + { + "subtask": "Grasp the blue cup and put it in the left basket", + "subtask_index": 59 + }, + { + "subtask": "Grasp the compass and put it in the left basket", + "subtask_index": 60 + }, + { + "subtask": "Grasp the chocolate and put it in the right basket", + "subtask_index": 61 + }, + { + "subtask": "Grasp the compass and put it in the right basket", + "subtask_index": 62 + }, + { + "subtask": "End", + "subtask_index": 63 + }, + { + "subtask": "Grasp the tape and put it in the left basket", + "subtask_index": 64 + }, + { + "subtask": "Grasp the peeler and put it in the right basket", + "subtask_index": 65 + }, + { + "subtask": "Grasp the yogurt and put it in the right basket", + "subtask_index": 66 + }, + { + "subtask": "Grasp the green lemon and put it in the right basket", + "subtask_index": 67 + }, + { + "subtask": "Grasp the black marker and put it in the left basket", + "subtask_index": 68 + }, + { + "subtask": "Grasp the round chewing gum and put it in the right basket", + "subtask_index": 69 + }, + { + "subtask": "Grasp the bread slice and put it in the right basket", + "subtask_index": 70 + }, + { + "subtask": "Grasp the square chewing gum and put it in the left basket", + "subtask_index": 71 + }, + { + "subtask": "null", + "subtask_index": 72 + } + ], + "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": 105, + "total_frames": 86401, + "fps": 30, + "total_tasks": 73, + "total_videos": 420, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "5.25 GB" + }, + "frame_num": 86401, + "dataset_size": "5.25 GB", + "data_structure": "Galaxea_R1_Lite_classify_object_six_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (93 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:104" + }, + "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", @@ -39801,8 +33936,8 @@ "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 360, - 640, + 720, + 1280, 3 ], "names": [ @@ -39811,8 +33946,8 @@ "channels" ], "info": { - "video.height": 360, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -39824,8 +33959,8 @@ "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 360, - 640, + 720, + 1280, 3 ], "names": [ @@ -39834,8 +33969,8 @@ "channels" ], "info": { - "video.height": 360, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -40119,20 +34254,20 @@ "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" }, - "R1_Lite_move_the_position_of_the_coffee_capsule": { - "path": "R1_Lite_move_the_position_of_the_coffee_capsule", - "dataset_name": "move_the_position_of_the_coffee_capsule", + "leju_robot_moving_parts_i": { + "path": "leju_robot_moving_parts_i", + "dataset_name": "moving_parts_i", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ - "place", + "grasp", "pick", - "grasp" + "place" ], - "tasks": "End", + "tasks": "Move to the initial position of the workbench.", "objects": [ { "object_name": "table", @@ -40143,25 +34278,128 @@ "level5": null }, { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", "level3": null, "level4": null, "level5": null }, { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-229727", + "dataset_size": "14.0GB", + "statistics": { + "total_episodes": 155, + "total_frames": 229727, + "total_tasks": 1, + "total_videos": 465, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "c8b01b9f-9806-4a5a-a895-01df2cac436f", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Move to the initial position of the workbench.", + "Grasp the gray part with right gripper", + "Insert the small component into the corresponding slot on the workbench.", + "Move to the table behind body", + "Grasp the white part with right gripper", + "Place the gray part on the table with right gripper", + "Place the white part on the table with right gripper", + "End", + "Pick up the small component from the shelf.", + "Bring the small component to the front of the workbench.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_tableware_arrangement": { + "path": "R1_Lite_tableware_arrangement", + "dataset_name": "tableware_arrangement", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Put the chopsticks back from the plate", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "bath_ball", - "level1": "daily_necessities", - "level2": "bath_ball", + "object_name": "chopsticks", + "level1": "tableware", + "level2": "chopsticks", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", "level3": null, "level4": null, "level5": null @@ -40183,315 +34421,143 @@ "level5": null }, { - "object_name": "can", + "object_name": "lunch_box", "level1": "container", - "level2": "can", + "level2": "lunch_box", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": null, + "frame_range": "0-16015", + "dataset_size": "628.5MB", + "statistics": { + "total_episodes": 8, + "total_frames": 16015, + "total_tasks": 1, + "total_videos": 24, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "85abe0d0-6c0a-432a-9dd0-14e2ca009399", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Put the chopsticks back from the plate", + "Put the bowl back from the plate", + "Put the spoon back from the bowl", + "Pick the chopsticks and place it on the plate", + "abnormal", + "Pick the bowl and place it on the plate", + "Pick the spoon and place it in the bowl", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_tableware_arrangement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_hotel_services_ad": { + "path": "leju_robot_hotel_services_ad", + "dataset_name": "hotel_services_ad", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "End", + "objects": [ { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "hard_cleanser", - "level1": "daily_necessities", - "level2": "hard_cleanser", + "object_name": "box", + "level1": "home_storage", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peeler", - "level1": "tool", - "level2": "peeler", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "block", - "level1": "toy", - "level2": "block", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "duck", - "level1": "toy", - "level2": "duck", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soap", - "level1": "daily_necessities", - "level2": "soap", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "basket", - "level1": "container", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cola", - "level1": "drink", - "level2": "cola", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "detergent", - "level1": "daily_necessities", - "level2": "detergent", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_beater", - "level1": "electrical_appliances", - "level2": "egg_beater", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "marker", - "level1": "office_supplies", - "level2": "marker", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rubiks_cube", - "level1": "toy", - "level2": "rubiks_cube", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread_slice", - "level1": "food", - "level2": "bread_slice", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "brush", - "level1": "daily_necessities", - "level2": "brush", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yogurt", - "level1": "drink", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "power_strip", - "level1": "electric_appliance", - "level2": "power_strip", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "milk", - "level1": "drink", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soda", - "level1": "drink", - "level2": "soda", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lime", - "level1": "fruit", - "level2": "lime", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "coffee_capsule", - "level1": "drink", - "level2": "coffee_capsule", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "dish", - "level1": "container", - "level2": "dish", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glass", - "level1": "furniture", - "level2": "glass", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "gum", - "level1": "daily_necessities", - "level2": "gum", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tape", - "level1": "daily_necessities", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soft_cleanser", - "level1": "daily_necessities", - "level2": "soft_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chips", - "level1": "food", - "level2": "chips", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", + "object_name": "card", + "level1": "nfc", + "level2": "card", "level3": null, "level4": null, "level5": null }, { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-14334", - "dataset_size": "500.1MB", + "operation_platform_height": null, + "frame_range": "0-73346", + "dataset_size": "4.7GB", "statistics": { - "total_episodes": 58, - "total_frames": 14334, + "total_episodes": 430, + "total_frames": 73346, "total_tasks": 1, - "total_videos": 232, + "total_videos": 1290, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "b0f7658f-e170-4911-afdf-9af621bfa0fe", + "dataset_uuid": "1bbfd926-a183-40a4-8649-0b9958b0ffcf", "language": [ "en", "zh" @@ -40501,11 +34567,10 @@ ], "sub_tasks": [ "End", - "Grasp the coffee capsule with left gripper", - "Place the coffee capsule on the table with right gripper", - "Grasp the coffee capsule with right gripper", - "Static", - "Place the coffee capsule on the table with left gripper", + "Take out the room card with right gripper", + "Hand the room card to the guest with right gripper", + "Hand the room card to the target.", + "Pick up the room card from the card holder.", "null" ], "annotations": { @@ -40543,231 +34608,523 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_ad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_push_piston": { - "path": "AIRBOT_MMK2_push_piston", - "dataset_name": "push_piston", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" + "Agilex_Cobot_Magic_close_drawer_bottom": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" ], - "tasks": "Static", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_close_drawer_bottom", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "office_workspace", + "level2": "office", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { "object_name": "table", - "level1": "furniture", + "level1": "home_storage", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "syringe", - "level1": "medical_supplies", - "level2": "syringe", + "object_name": "three_layer_transparent_drawer", + "level1": "laboratory_supplies", + "level2": "three_layer_transparent_drawer", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-15278", - "dataset_size": "598.3MB", - "statistics": { - "total_episodes": 47, - "total_frames": 15278, - "total_tasks": 1, - "total_videos": 188, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "eef01bf4-6600-4121-9501-b7651d8e26c5", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "close the bottom drawer." ], "sub_tasks": [ - "Static", - "Push the piston with the right gripper", - "End", - "Grasp the syringe with the left gripper", - "Grasp the piston with the right gripper", - "Place the syringe on the table with the left gripper", - "Lift the syringe with the left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_push_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_push_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_clean_the_sink": { - "path": "R1_Lite_clean_the_sink", - "dataset_name": "clean_the_sink", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "open", - "wipe", - "close" - ], - "tasks": "Pick up the cloth", - "objects": [ { - "object_name": "washbasin", - "level1": "container", - "level2": "washbasin", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 0 }, { - "object_name": "faucet", - "level1": "tool", - "level2": "faucet", - "level3": null, - "level4": null, - "level5": null + "subtask": "Use the right gripper to contact the bottom layer of the storage cabinet", + "subtask_index": 1 }, { - "object_name": "rag", - "level1": "clothing", - "level2": "rag", - "level3": null, - "level4": null, - "level5": null + "subtask": "Push the bottom drawer closed", + "subtask_index": 2 + }, + { + "subtask": "null", + "subtask_index": 3 } ], - "operation_platform_height": null, - "frame_range": "0-104391", - "dataset_size": "3.8GB", - "statistics": { - "total_episodes": 120, - "total_frames": 104391, - "total_tasks": 1, - "total_videos": 360, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "d29e439c-d1a9-41e5-ab2b-e264195dda27", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "push" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Agilex_Cobot_Magic" ], - "sub_tasks": [ - "Pick up the cloth", - "Turn on the faucet", - "Wipe the sink", - "Turn off the faucet", - "null" + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 50, + "total_frames": 16270, + "fps": 30, + "total_tasks": 4, + "total_videos": 150, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "157.62 MB" + }, + "frame_num": 16270, + "dataset_size": "157.62 MB", + "data_structure": "Agilex_Cobot_Magic_close_drawer_bottom_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false } - ], - "annotated_by": [ + }, + "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", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_clean_the_sink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_clean_the_sink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "Tianqin_A2_box_storage_part": { - "path": "Tianqin_A2_box_storage_part", - "dataset_name": "box_storage_part", + "G1edu-u3_pick_metal_bowl_ab": { + "path": "G1edu-u3_pick_metal_bowl_ab", + "dataset_name": "pick_metal_bowl_ab", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "pick" ], - "tasks": "Place the data cable in the another box", + "tasks": "Grasp the metal bowl and lift it to the center of the view with left gripper", "objects": [ { "object_name": "table", @@ -40778,35 +35135,27 @@ "level5": null }, { - "object_name": "part", - "level1": "tool", - "level2": "part", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "metal_bowl", + "level1": "bowl", + "level2": "metal_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-681531", - "dataset_size": "25.6GB", + "frame_range": "0-11322", + "dataset_size": "158.4MB", "statistics": { - "total_episodes": 1104, - "total_frames": 681531, + "total_episodes": 36, + "total_frames": 11322, "total_tasks": 1, - "total_videos": 3312, - "total_chunks": 2, - "chunks_size": 1000, + "total_videos": 36, + "total_chunks": 1, + "chunks_size": 37, "fps": 30 }, - "dataset_uuid": "7a1de37c-d8b0-476a-b503-99a0fd93cafd", + "dataset_uuid": "988d81c9-a23a-4a67-9613-aed7fcecf7e3", "language": [ "en", "zh" @@ -40815,10 +35164,9 @@ "robotics" ], "sub_tasks": [ - "Place the data cable in the another box", - "Abnormal", - "Grasp the data cable", + "Grasp the metal bowl and lift it to the center of the view with left gripper", "End", + "Grasp the metal bowl and lift it to the center of the view with right gripper", "null" ], "annotations": { @@ -40856,12 +35204,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Tianqin_A2_box_storage_part_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", - "structure": "Tianqin_A2_box_storage_part_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_metal_bowl_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_food_packaging": { - "path": "Cobot_Magic_food_packaging", - "dataset_name": "food_packaging", + "AgiBot-g1_remove_the_accessory": { + "path": "AgiBot-g1_remove_the_accessory", + "dataset_name": "remove_the_accessory", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -40869,11 +35217,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pull", "place", "pick" ], - "tasks": "Place the banana into the package", + "tasks": "Place the hard drive bracket into the box.", "objects": [ { "object_name": "table", @@ -40884,75 +35231,146 @@ "level5": null }, { - "object_name": "lunch_box", + "object_name": "box", "level1": "container", - "level2": "lunch_box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread", - "level1": "food", - "level2": "bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pear", - "level1": "fruit", - "level2": "pear", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "cucumber", - "level1": "vegetable", - "level2": "cucumber", + "object_name": "accessories", + "level1": "industrial_parts", + "level2": "accessories", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": null, + "frame_range": "0-27353", + "dataset_size": "14.8GB", + "statistics": { + "total_episodes": 68, + "total_frames": 27353, + "total_tasks": 1, + "total_videos": 544, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "fcba76dc-2672-4dc1-9b8e-b375ede64077", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the hard drive bracket into the box.", + "Pick up the hard drive bracket from the feeding area.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_remove_the_accessory_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_box_storage_parcel_g": { + "path": "leju_robot_box_storage_parcel_g", + "dataset_name": "box_storage_parcel_g", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the package into the parcel locker.", + "objects": [ { - "object_name": "bag", + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parcel", "level1": "container", - "level2": "bag", + "level2": "parcel", "level3": null, "level4": null, "level5": null }, { - "object_name": "lemon", - "level1": "fruit", - "level2": "lemon", + "object_name": "conveyor_belt", + "level1": "industrial_equipment", + "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-1470087", - "dataset_size": "25.8GB", + "operation_platform_height": null, + "frame_range": "0-182793", + "dataset_size": "9.4GB", "statistics": { - "total_episodes": 798, - "total_frames": 1470087, - "total_tasks": 2, - "total_videos": 2394, + "total_episodes": 492, + "total_frames": 182793, + "total_tasks": 1, + "total_videos": 1476, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "d6b80e23-6bac-471f-a759-a475112b145d", + "dataset_uuid": "1b130f08-2c4e-4724-ad03-8ecda43684fd", "language": [ "en", "zh" @@ -40961,54 +35379,10 @@ "robotics" ], "sub_tasks": [ - "Place the banana into the package", - "Right hand grabs cucumber.", - "Right hand moves lunch bag.", - "Right hand grabs lunch bag.", - "Discard.", - "end", - "Right hand grabs banana.", - "Grasp the box with the right gripper", - "Grasp the package with the left gripper", - "Left hand grabs lunch box.", - "Hold the package and Pick up the bread", - "Left hand secures lunch bag.", - "Abnormal", - "Place the lemon into the package with the right gripper", - "Grasp the banana with the right gripper", - "Right hand grabs lunch box.", - "Left hand stands lunch bag upright.", - "Place the pear into the package with the right gripper", - "Place the pear into the package", - "Grasp the cucumber with the right gripper", - "Place the box into the package", - "Hold the package and Pick up the box", - "Hold the package and Pick up the cucumber", - "Right hand stands lunch bag upright.", - "Pick up the banana", - "Right hand grabs lemon.", - "Place the banana into the package with the right gripper", - "Place the bread into the package", - "Right hand places into bag.", - "Left hand moves lunch bag.", - "Grasp the lemon with the right gripper", - "Right hand grabs bread.", - "Pick up the pear", - "zip up the zipper to close the bag", - "Pick up the box", - "Right hand grabs pear.", - "Right hand pulls zipper.", - "Pick up the bread", - "Grasp the pear with the right gripper", - "Pick up the cucumber", - "Hold the package and Pick up the pear", - "Place the box into the package with the right gripper", - "Place the cucumber into the package with the right gripper", - "Right hand receives lunch box.", - "Hold the package and Pick up the banana", - "Left hand grabs lunch bag.", - "Left hand lifts lunch box.", - "Place the cucumber into the package", + "Place the package into the parcel locker.", + "Pick up the package from the inbound machine.", + "Pick up the package from the conveyor belt.", + "Place the package onto the inbound machine.", "null" ], "annotations": { @@ -41046,23 +35420,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_box_storage_parcel_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Split_aloha_zip_up_the_document_bag": { - "path": "Split_aloha_zip_up_the_document_bag", - "dataset_name": "zip_up_the_document_bag", + "AIRBOT_MMK2_place_the_small_bowl_of_canned_food": { + "path": "AIRBOT_MMK2_place_the_small_bowl_of_canned_food", + "dataset_name": "place_the_small_bowl_of_canned_food", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "pull", + "pick", "place" ], - "tasks": "Pulling up the zipper on the transparent plastic bag with the left gripper to close it", + "tasks": "End", "objects": [ { "object_name": "table", @@ -41073,27 +35447,35 @@ "level5": null }, { - "object_name": "document_bag", - "level1": "office_supplies", - "level2": "document_bag", + "object_name": "mini_table", + "level1": "furniture", + "level2": "mini_table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "small_bowl_of_canned_food", + "level1": "food", + "level2": "small_bowl_of_canned_food", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-234815", - "dataset_size": "2.7GB", + "frame_range": "0-7610", + "dataset_size": "313.5MB", "statistics": { - "total_episodes": 495, - "total_frames": 234815, - "total_tasks": 4, - "total_videos": 1485, + "total_episodes": 50, + "total_frames": 7610, + "total_tasks": 1, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "e06c5784-df23-4a4a-b86d-adc2bcf12bae", + "dataset_uuid": "a9c7e711-c375-4aa9-8ce2-93c6f016b80d", "language": [ "en", "zh" @@ -41102,13 +35484,10 @@ "robotics" ], "sub_tasks": [ - "Pulling up the zipper on the transparent plastic bag with the left gripper to close it", - "Pulling up the zipper on the transparent plastic bag with the right gripper to close it", - "Static", "End", - "Pick up the transparent plastic bag with the left gripper", - "Pick up the transparent plastic bag with the right gripper", - "Place the transparent plastic bag", + "Abnormal", + "Place the small bowl of canned food on the table with the right gripper", + "Grasp the small bowl of canned food with right gripper", "null" ], "annotations": { @@ -41146,12 +35525,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Split_aloha_zip_up_the_document_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_zip_up_the_document_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_place_the_small_bowl_of_canned_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_store_wet_wipes_and_bowls": { - "path": "AIRBOT_MMK2_store_wet_wipes_and_bowls", - "dataset_name": "store_wet_wipes_and_bowls", + "G1edu-u3_pullBowl_storage_bread_unordered_a": { + "path": "G1edu-u3_pullBowl_storage_bread_unordered_a", + "dataset_name": "pullBowl_storage_bread_unordered_a", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -41159,10 +35538,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "open", - "hold" + "pick", + "place" ], - "tasks": "Place the bowl on the plate with the right gripper", + "tasks": "Abnormal", "objects": [ { "object_name": "table", @@ -41173,43 +35552,35 @@ "level5": null }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "wet_tissue", + "object_name": "towel", "level1": "daily_necessities", - "level2": "wet_tissue", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "square_plate", - "level1": "container", - "level2": "square_plate", + "level2": "towel", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-13058", - "dataset_size": "425.0MB", + "frame_range": "0-158699", + "dataset_size": "3.3GB", "statistics": { - "total_episodes": 50, - "total_frames": 13058, + "total_episodes": 188, + "total_frames": 158699, "total_tasks": 1, - "total_videos": 200, + "total_videos": 564, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "de8bf908-6d6b-42fb-9298-29fa21a3fc8d", + "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a49", "language": [ "en", "zh" @@ -41218,12 +35589,13 @@ "robotics" ], "sub_tasks": [ - "Place the bowl on the plate with the right gripper", - "Static", - "Grasp the wet wipes with the left gripper", - "Grasp the bowl with the right gripper", + "Abnormal", + "Place the long bread in pink bowl with left hand", "End", - "Place the wet wipes into the bowl with the left gripper", + "Grasp the round bread with left hand", + "Grasp the long bread with left hand", + "Place the round bread in pink bowl with left hand", + "Move the pink bowl to the center of table with right hand", "null" ], "annotations": { @@ -41261,10 +35633,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pullBowl_storage_bread_unordered_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_take_part_both_hands": { + "Airbot_MMK2_swap_cake_pumpkin_plate": { "task_categories": [ "robotics" ], @@ -41294,11 +35666,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_take_part_both_hands", + "dataset_name": "Airbot_MMK2_swap_cake_pumpkin_plate", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { "level1": "household", - "level2": "living_room", + "level2": "kitchen", "level3": null, "level4": null, "level5": null @@ -41306,25 +35678,25 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "item", - "level1": "item", - "level2": "item", + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "square_building_blocks", - "level1": "building_blocks", - "level2": "square_building_blocks", + "object_name": "pumpkin", + "level1": "vegetables", + "level2": "pumpkin", "level3": null, "level4": null, "level5": null }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "cake", + "level1": "bread", + "level2": "cake", "level3": null, "level4": null, "level5": null @@ -41332,27 +35704,27 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "take the items off the building blocks with both hands and place them on the table." + "take the cake out with left hand and put the pumpkin in with right hand." ], "sub_tasks": [ { - "subtask": "Grasp the steel tube on the cube block with the right gripper", + "subtask": "Grasp the cake with the left gripper", "subtask_index": 0 }, { - "subtask": "Grasp the steel tube on the cube block with the left gripper", + "subtask": "Grasp the pumpkinx with the right gripper", "subtask_index": 1 }, { - "subtask": "Place the steel tube on the table with the left gripper", + "subtask": "End", "subtask_index": 2 }, { - "subtask": "Place the steel tube on the table with the right gripper", + "subtask": "Place the cake on the table with the left gripper", "subtask_index": 3 }, { - "subtask": "End", + "subtask": "Place the pumpkin into the plate with the right gripper", "subtask_index": 4 }, { @@ -41398,7 +35770,7 @@ ], "statistics": { "total_episodes": 50, - "total_frames": 6348, + "total_frames": 13761, "fps": 30, "total_tasks": 6, "total_videos": 200, @@ -41407,11 +35779,11 @@ "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "239.11 MB" + "dataset_size": "399.28 MB" }, - "frame_num": 6348, - "dataset_size": "239.11 MB", - "data_structure": "Airbot_MMK2_take_part_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| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 13761, + "dataset_size": "399.28 MB", + "data_structure": "Airbot_MMK2_swap_cake_pumpkin_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" }, @@ -41767,239 +36139,19 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Galbot_g1_steamer_storage_baozi_g": { - "path": "Galbot_g1_steamer_storage_baozi_g", - "dataset_name": "steamer_storage_baozi_g", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Grasp the pot lid with left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "baozi", - "level1": "food", - "level2": "baozi", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "steamer", - "level1": "cookware", - "level2": "steamer", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pot_lid", - "level1": "daily_necessities", - "level2": "pot_lid", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-87860", - "dataset_size": "1.6GB", - "statistics": { - "total_episodes": 89, - "total_frames": 87860, - "total_tasks": 1, - "total_videos": 267, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "fc0c05a2-5b0d-4aa4-9329-eb16047d2f03", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the pot lid with left gripper", - "Place the pot lid on the steamer with left gripper", - "End", - "Place the baozi on the steamer with right gripper", - "Grasp the baozi in the plate with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Galbot_g1_steamer_storage_baozi_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Galbot_g1_steamer_storage_baozi_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_open_and_close_curtains": { - "path": "R1_Lite_open_and_close_curtains", - "dataset_name": "open_and_close_curtains", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pull the outeouter curtains open on both sides with the both gripper", - "objects": [ - { - "object_name": "curtains", - "level1": "clothing", - "level2": "curtains", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-226694", - "dataset_size": "8.5GB", - "statistics": { - "total_episodes": 98, - "total_frames": 226694, - "total_tasks": 1, - "total_videos": 294, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "184bad58-5213-4be2-bb93-7c6d271bf034", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pull the outeouter curtains open on both sides with the both gripper", - "Pull the outer curtains open on both sides", - "End", - "Pull the inner curtains open on both sides", - "Close the outer curtains on both sides", - "Pull the inner curtains open on left sides with the left gripper", - "Close the right inner curtain with the right gripper", - "Pull the inner curtains open on right sides with the right gripper", - "Close the left inner curtain with the left gripper", - "Close the outeouter curtains on both sides with the both gripper", - "Close the inner curtains on both sides", - "abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_open_and_close_curtains_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_open_and_close_curtains_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_moving_parts_c": { - "path": "leju_robot_moving_parts_c", - "dataset_name": "moving_parts_c", + "G1edu-u3_pick_crumpled_paper_aa": { + "path": "G1edu-u3_pick_crumpled_paper_aa", + "dataset_name": "pick_crumpled_paper_aa", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "pick" ], - "tasks": "Place the white part on the table with left gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -42010,35 +36162,27 @@ "level5": null }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", + "object_name": "paper", + "level1": "rubbish", + "level2": "paper", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-716756", - "dataset_size": "44.0GB", + "frame_range": "0-4485", + "dataset_size": "58.9MB", "statistics": { - "total_episodes": 490, - "total_frames": 716756, + "total_episodes": 13, + "total_frames": 4485, "total_tasks": 1, - "total_videos": 1470, + "total_videos": 13, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 13, "fps": 30 }, - "dataset_uuid": "7aa945d0-afcc-41a9-bc85-6d19914ec42d", + "dataset_uuid": "b6576ff7-68ba-498d-a50c-c97bad67554e", "language": [ "en", "zh" @@ -42047,18 +36191,10 @@ "robotics" ], "sub_tasks": [ - "Place the white part on the table with left gripper", - "Grasp the white part with left gripper", - "Place the gray part on the table with right gripper", - "Grasp the gray part with right gripper", "End", - "Return to the initial position at the workbench.", - "Move the small component to the workbench.", - "Place the white part on the table with right gripper", - "Insert the small component into the corresponding slot on the workbench.", - "Pick up the small component from the shelf.", - "Move to the table behind body", - "Grasp the white part with right gripper", + "Grasp the paper ball and lift it to the center of the view with right gripper  ", + "Grasp the paper ball and lift it to the center of the view with left gripper ", + "Abnormal", "null" ], "annotations": { @@ -42096,10 +36232,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_crumpled_paper_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Agilex_Cobot_Magic_close_drawer_top": { + "Agilex_Cobot_Magic_erase_board_left_side": { "task_categories": [ "robotics" ], @@ -42129,11 +36265,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_close_drawer_top", + "dataset_name": "Agilex_Cobot_Magic_erase_board_left_side", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "office_workspace", - "level2": "office", + "level1": "education", + "level2": "school", "level3": null, "level4": null, "level5": null @@ -42149,9 +36285,17 @@ "level5": null }, { - "object_name": "three_layer_transparent_drawer", - "level1": "laboratory_supplies", - "level2": "three_layer_transparent_drawer", + "object_name": "whiteboard", + "level1": "stationery", + "level2": "whiteboard", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "red_whiteboard_Eraser", + "level1": "stationery", + "level2": "red_whiteboard_Eraser", "level3": null, "level4": null, "level5": null @@ -42159,29 +36303,47 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "close the top drawer." + "wipe off the handwriting on the whiteboard." ], "sub_tasks": [ { - "subtask": "End", + "subtask": "Place the eraser with the left gripper", "subtask_index": 0 }, { - "subtask": "Push the top drawer closed", + "subtask": "Grasp the eraser with the left gripper", "subtask_index": 1 }, { - "subtask": "Use the right gripper to touch the topmost layer of the storage cabinet", + "subtask": "End", "subtask_index": 2 }, { - "subtask": "null", + "subtask": "Grasp the eraser and wipe the blackboard with the right gripper", "subtask_index": 3 + }, + { + "subtask": "Place the eraser with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Grasp the eraser with the right gripper", + "subtask_index": 5 + }, + { + "subtask": "Grasp the eraser and wipe the blackboard with the left gripper", + "subtask_index": 6 + }, + { + "subtask": "null", + "subtask_index": 7 } ], "atomic_actions": [ "grasp", - "push" + "lift", + "lower", + "wipe" ], "robot_name": [ "Agilex_Cobot_Magic" @@ -42213,23 +36375,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 50, - "total_frames": 9800, + "total_episodes": 101, + "total_frames": 51478, "fps": 30, - "total_tasks": 4, - "total_videos": 150, + "total_tasks": 8, + "total_videos": 303, "total_chunks": 1, "chunks_size": 1000, "state_dim": 26, "action_dim": 26, "camera_views": 3, - "dataset_size": "96.54 MB" + "dataset_size": "490.77 MB" }, - "frame_num": 9800, - "dataset_size": "96.54 MB", - "data_structure": "Agilex_Cobot_Magic_close_drawer_top_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 51478, + "dataset_size": "490.77 MB", + "data_structure": "Agilex_Cobot_Magic_erase_board_left_side_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (89 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:49" + "train": "0:100" }, "features": { "observation.images.cam_head_rgb": { @@ -42600,115 +36762,7 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_mobile_phone_storage": { - "path": "AIRBOT_MMK2_mobile_phone_storage", - "dataset_name": "mobile_phone_storage", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "mobile_phone", - "level1": "communication_supplies", - "level2": "mobile_phone", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "calculator_box", - "level1": "container", - "level2": "calculator_box", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-9492", - "dataset_size": "496.3MB", - "statistics": { - "total_episodes": 49, - "total_frames": 9492, - "total_tasks": 1, - "total_videos": 196, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "ae74a19b-7e4c-4f10-b378-faa014a9f006", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Place the telephone on the table with the right gripper", - "Static", - "Place the telephone on the box with the left gripper", - "Grasp the telephone with the left gripper", - "Grasp the telephone with the right gripper", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_take_bowl_sponge": { + "Agilex_Cobot_Magic_storage_bread_basket": { "task_categories": [ "robotics" ], @@ -42738,11 +36792,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_take_bowl_sponge", + "dataset_name": "Agilex_Cobot_Magic_storage_bread_basket", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { "level1": "household", - "level2": "kitchen", + "level2": "living_room", "level3": null, "level4": null, "level5": null @@ -42750,25 +36804,25 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "cleaning_sponge", - "level1": "cleaning", - "level2": "cleaning_sponge", + "object_name": "table", + "level1": "home_storage", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "bowl", - "level2": "bowl", + "object_name": "small_yellow _basket", + "level1": "home_storage", + "level2": "small_yellow _basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "waffle", + "level1": "food", + "level2": "waffle", "level3": null, "level4": null, "level5": null @@ -42776,31 +36830,31 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "pick up the sponge and bowl by hand and place them on the table." + "Put the bakery in the basket." ], "sub_tasks": [ { - "subtask": "Place the sponge on the table with the left gripper", + "subtask": "Abnormal", "subtask_index": 0 }, { - "subtask": "Abnormal", + "subtask": "Grasp the bread with right gripper", "subtask_index": 1 }, { - "subtask": "Grasp the sponge on the white basket and with the left gripper", + "subtask": "End", "subtask_index": 2 }, { - "subtask": "Grasp the bowl on the white basket and with the right gripper", + "subtask": "Grasp the bread with left gripper", "subtask_index": 3 }, { - "subtask": "End", + "subtask": "Place the bread in the basket with right gripper", "subtask_index": 4 }, { - "subtask": "Place the bowl on the table with the right gripper", + "subtask": "Place the bread in the basket with left gripper", "subtask_index": 5 }, { @@ -42810,31 +36864,29 @@ ], "atomic_actions": [ "grasp", - "pick", - "place" + "lift", + "lower" ], "robot_name": [ - "Airbot_MMK2" + "Agilex_Cobot_Magic" ], - "end_effector_type": "five_finger_gripper", + "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "cam_right_wrist_rgb" ], "came_info": { "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -42845,23 +36897,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 42, - "total_frames": 11308, + "total_episodes": 98, + "total_frames": 32042, "fps": 30, "total_tasks": 7, - "total_videos": 168, + "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "373.70 MB" + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "354.51 MB" }, - "frame_num": 11308, - "dataset_size": "373.70 MB", - "data_structure": "Airbot_MMK2_take_bowl_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| `-- ... (30 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 32042, + "dataset_size": "354.51 MB", + "data_structure": "Agilex_Cobot_Magic_storage_bread_basket_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (86 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:41" + "train": "0:97" }, "features": { "observation.images.cam_head_rgb": { @@ -42933,33 +36985,10 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, "observation.state": { "dtype": "float32", "shape": [ - 36 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -42968,42 +36997,32 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -43012,36 +37031,26 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "timestamp": { @@ -43192,6 +37201,66 @@ 2 ], "dtype": "int32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] } }, "authors": { @@ -43213,9 +37282,106 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "Airbot_MMK2_storage_tumbler_umbrella": { + "alpha_bot_2_item_reversal": { + "path": "alpha_bot_2_item_reversal", + "dataset_name": "item_reversal", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the cup with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "kitchen_supplies", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-82235", + "dataset_size": "2.1GB", + "statistics": { + "total_episodes": 90, + "total_frames": 82235, + "total_tasks": 1, + "total_videos": 360, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "aac569d8-dbc7-4128-a573-659adbe0ed51", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the cup with left gripper", + "Place the cup on the table with right gripper", + "Pass the cup to the right gripper", + "End", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "alpha_bot_2_item_reversal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "alpha_bot_2_item_reversal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_take_egg": { "task_categories": [ "robotics" ], @@ -43245,11 +37411,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_tumbler_umbrella", + "dataset_name": "Airbot_MMK2_take_egg", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "living_room", + "level1": "catering", + "level2": "restaurant", "level3": null, "level4": null, "level5": null @@ -43257,33 +37423,17 @@ "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": "umbrella", - "level1": "tool", - "level2": "umbrella", + "object_name": "egg_carton", + "level1": "disposable_items", + "level2": "egg_carton", "level3": null, "level4": null, "level5": null }, { - "object_name": "tumbler", - "level1": "container", - "level2": "tumbler", + "object_name": "egg", + "level1": "eggs", + "level2": "egg", "level3": null, "level4": null, "level5": null @@ -43291,36 +37441,24 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "pick up the umbrella with left hand and put it in the basket, then use right hand to pick up the thermos and put it in the basket." + "take out the brown eggs from the egg box." ], "sub_tasks": [ { - "subtask": "Place the cup into the white basket with the right gripper", + "subtask": "End", "subtask_index": 0 }, { - "subtask": "Grasp the umbrella with the left gripper", + "subtask": "Place the egg on the table with the right gripper", "subtask_index": 1 }, { - "subtask": "Place the umbrella into the white basket with the left gripper", + "subtask": "Grasp the egg from the egg storage box with the right gripper", "subtask_index": 2 }, - { - "subtask": "Static", - "subtask_index": 3 - }, - { - "subtask": "End", - "subtask_index": 4 - }, - { - "subtask": "Grasp the cup with the right gripper", - "subtask_index": 5 - }, { "subtask": "null", - "subtask_index": 6 + "subtask_index": 3 } ], "atomic_actions": [ @@ -43360,23 +37498,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 48, - "total_frames": 14373, + "total_episodes": 101, + "total_frames": 18643, "fps": 30, - "total_tasks": 7, - "total_videos": 192, + "total_tasks": 4, + "total_videos": 404, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "542.57 MB" + "dataset_size": "758.58 MB" }, - "frame_num": 14373, - "dataset_size": "542.57 MB", - "data_structure": "Airbot_MMK2_storage_tumbler_umbrella_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (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", + "frame_num": 18643, + "dataset_size": "758.58 MB", + "data_structure": "Airbot_MMK2_take_egg_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (89 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_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" + "train": "0:100" }, "features": { "observation.images.cam_head_rgb": { @@ -43730,9 +37868,9 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Cobot_Magic_take_out_a_pen_from_the_pen_holder": { - "path": "Cobot_Magic_take_out_a_pen_from_the_pen_holder", - "dataset_name": "take_out_a_pen_from_the_pen_holder", + "Cobot_Magic_steamer_storage_dumpling": { + "path": "Cobot_Magic_steamer_storage_dumpling", + "dataset_name": "steamer_storage_dumpling", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -43743,7 +37881,7 @@ "pick", "place" ], - "tasks": "Place the pen on the table with the left gripper", + "tasks": "use the left arm to put the dumpling into the steamer", "objects": [ { "object_name": "table", @@ -43754,43 +37892,162 @@ "level5": null }, { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", + "object_name": "dumplings", + "level1": "food", + "level2": "dumplings", "level3": null, "level4": null, "level5": null }, { - "object_name": "pen_holder", - "level1": "office_supplies", - "level2": "pen_holder", + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "steamer", + "level1": "container", + "level2": "steamer", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-417589", + "dataset_size": "19.8GB", + "statistics": { + "total_episodes": 580, + "total_frames": 417589, + "total_tasks": 6, + "total_videos": 1740, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "df5bb1ee-1fd7-4b3d-8502-4cda9ee6bbc5", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "use the left arm to put the dumpling into the steamer", + "Abnormal", + "use the right arm to put the dumpling into the steamer", + "Grasp the dumpling with left gripper", + "End", + "Place the dumpling on the steamer with right gripper", + "use the left arm to grab a dumpling", + "Grasp the dumpling with right gripper", + "use the right arm to grab a dumpling", + "Place the dumpling on the steamer with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_steamer_storage_dumpling_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_plate_storaje_baozi": { + "path": "Cobot_Magic_plate_storaje_baozi", + "dataset_name": "plate_storaje_baozi", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Grasp the baozi on the steamer with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { "object_name": "tablecloth", - "level1": "fabric", + "level1": "clothing", "level2": "tablecloth", "level3": null, "level4": null, "level5": null + }, + { + "object_name": "baozi", + "level1": "food", + "level2": "baozi", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "steamer", + "level1": "container", + "level2": "steamer", + "level3": null, + "level4": null, + "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-225692", - "dataset_size": "6.5GB", + "operation_platform_height": null, + "frame_range": "0-261093", + "dataset_size": "12.3GB", "statistics": { - "total_episodes": 488, - "total_frames": 225692, - "total_tasks": 5, - "total_videos": 1464, + "total_episodes": 495, + "total_frames": 261093, + "total_tasks": 6, + "total_videos": 1485, "total_chunks": 1, "chunks_size": 1000, - "fps": 50 + "fps": 30 }, - "dataset_uuid": "836047ba-9812-4f07-b6bd-1d98e5c01c1d", + "dataset_uuid": "749fc774-003a-487c-948b-b6fc7ad307e1", "language": [ "en", "zh" @@ -43799,14 +38056,22 @@ "robotics" ], "sub_tasks": [ - "Place the pen on the table with the left gripper", + "Grasp the baozi on the steamer with left gripper", "Abnormal", + "Place the yellow baozi on the plate with left gripper", + "Place the yellow baozi on the plate with right gripper", "End", - "Pick up the pen with the left gripper", - "Pick up the pen from the pen holder", - "Place the pen on the table with the right gripper", - "Pick up the pen with the right gripper", - "Place the pen on the table", + "Grasp the dumpling with left gripper", + "use the left arm to grab the steamed stuffed bun that is closest to it", + "use the right arm to grab the steamed stuffed bun that is closest to it", + "use the right arm to put the steamed stuffed bun into the plate", + "Place the baozi on the plate with left gripper", + "Grasp the yellow baozi on the steamer with left gripper", + "use the left arm to put the steamed stuffed bun into the plate", + "Place the dumpling on the steamer with right gripper", + "Grasp the dumpling with right gripper", + "Grasp the yellow baozi on the steamer with right gripper", + "Place the dumpling on the steamer with left gripper", "null" ], "annotations": { @@ -43844,12 +38109,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_plate_storaje_baozi_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_move_the_position_of_the_long_bread": { - "path": "R1_Lite_move_the_position_of_the_long_bread", - "dataset_name": "move_the_position_of_the_long_bread", + "R1_Lite_move_the_position_of_the_milk": { + "path": "R1_Lite_move_the_position_of_the_milk", + "dataset_name": "move_the_position_of_the_milk", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -43860,7 +38125,7 @@ "pick", "grasp" ], - "tasks": "Grasp the long bread with right gripper", + "tasks": "Grasp the wangzai milk with left gripper", "objects": [ { "object_name": "table", @@ -44208,18 +38473,18 @@ } ], "operation_platform_height": 77.2, - "frame_range": "0-9249", - "dataset_size": "344.7MB", + "frame_range": "0-12898", + "dataset_size": "421.8MB", "statistics": { - "total_episodes": 31, - "total_frames": 9249, + "total_episodes": 59, + "total_frames": 12898, "total_tasks": 1, - "total_videos": 124, + "total_videos": 236, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "bdee9310-93d0-4808-a0ad-4ca01b25ac9f", + "dataset_uuid": "945013f7-9a63-4c59-af10-4ad4df23d67f", "language": [ "en", "zh" @@ -44228,13 +38493,13 @@ "robotics" ], "sub_tasks": [ - "Grasp the long bread with right gripper", - "Grasp the long bread with left gripper", - "Place the long bread on the table with right gripper", - "Place the long bread on the table with left gripper", - "Abnormal", + "Grasp the wangzai milk with left gripper", + "Place the wangzai milk on the table with right gripper", "Static", + "Place the wangzai milk on the table with left gripper", + "Grasp the wangzai milk with right gripper", "End", + "Abnormal", "null" ], "annotations": { @@ -44272,163 +38537,466 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_move_the_position_of_the_milk_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_milk_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_take_electronics": { + "R1_Lite_place_the_dress_shirt_on_the_hanger": { + "path": "R1_Lite_place_the_dress_shirt_on_the_hanger", + "dataset_name": "place_the_dress_shirt_on_the_hanger", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "abnormal", + "objects": [ + { + "object_name": "hanger", + "level1": "furniture", + "level2": "hanger", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "shirt", + "level1": "clothing", + "level2": "shirt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bed", + "level1": "furniture", + "level2": "bed", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-120516", + "dataset_size": "7.1GB", + "statistics": { + "total_episodes": 103, + "total_frames": 120516, + "total_tasks": 1, + "total_videos": 309, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "99bbe00a-c986-419f-b64a-51eef829a3b8", + "language": [ + "en", + "zh" + ], "task_categories": [ "robotics" ], - "language": [ - "en" + "sub_tasks": [ + "abnormal", + "Hook the other side of the shirt onto the hanger", + "Hook one side of the shirt onto the hanger", + "Lift the shirt and hanger", + "Take the clothes hanger out of the clothes", + "Place the hanger on the bed", + "null" ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_place_the_dress_shirt_on_the_hanger_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_take_and_put_away_garden_stuff_a": { + "path": "R1_Lite_take_and_put_away_garden_stuff_a", + "dataset_name": "take_and_put_away_garden_stuff_a", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_take_electronics", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "industry", - "level2": "factory", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "pull", + "push" + ], + "tasks": "Grasp the apple and place it on the table with right gripper", "objects": [ { - "object_name": "paper_boxes", - "level1": "baskets", - "level2": "paper_boxes", + "object_name": "refrigerator", + "level1": "furniture", + "level2": "refrigerator", "level3": null, "level4": null, "level5": null }, { - "object_name": "lid", - "level1": "storage_utensils", - "level2": "lid", + "object_name": "drawer", + "level1": "container", + "level2": "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": [ - "take the calculator box and mouse box off the lid and place them on the table." - ], - "sub_tasks": [ + }, { - "subtask": "Abnormal", - "subtask_index": 0 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the mouse box on the table with the left gripper", - "subtask_index": 1 + "object_name": "tray", + "level1": "container", + "level2": "tray", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the calculator box on the white lid and with the right gripper", - "subtask_index": 2 + "object_name": "potato", + "level1": "food", + "level2": "potato", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the mouse box on the white lid and with the left gripper", - "subtask_index": 3 + "object_name": "green_pepper", + "level1": "food", + "level2": "green_pepper", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "End", - "subtask_index": 4 + "object_name": "pumpkin", + "level1": "food", + "level2": "pumpkin", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the calculator box on the table with the right gripper", - "subtask_index": 5 + "object_name": "apple", + "level1": "food", + "level2": "apple", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 6 + "object_name": "orange", + "level1": "food", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null } ], - "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" - ], + "operation_platform_height": null, + "frame_range": "0-355644", + "dataset_size": "15.9GB", "statistics": { - "total_episodes": 49, - "total_frames": 13465, - "fps": 30, - "total_tasks": 7, - "total_videos": 196, + "total_episodes": 148, + "total_frames": 355644, + "total_tasks": 1, + "total_videos": 444, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "400.20 MB" - }, - "frame_num": 13465, - "dataset_size": "400.20 MB", - "data_structure": "Airbot_MMK2_take_electronics_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", - "splits": { - "train": "0:48" + "fps": 30 }, - "features": { - "observation.images.cam_head_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 + "dataset_uuid": "7c763184-bc85-4d7e-b01b-85ba85cbb6f2", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the apple and place it on the table with right gripper", + "Place the green bell pepper in the lower drawer with right gripper", + "Put green pepper in the refrigerator drawer", + "Place the orange in the lower drawer with right gripper", + "Place the potato in the lower drawer with left gripper", + "Take out the potato and place it on the table", + "Open the refrigerator door with left gripper", + "Place the potato in the lower drawer with right gripper", + "Take out the apple and place it on the tray", + "Open the refrigerator door", + "End", + "Close the refrigerator door", + "Close the lower drawer with the left gripper", + "Grasp the potato and place it on the table with left gripper", + "Open the lower refrigerator drawer", + "Close the middle refrigerator door with the right gripper", + "Place the apple in the lower drawer with right gripper", + "Put orange in the refrigerator drawer", + "Abnormal", + "Put pumpkin in the refrigerator drawer", + "Grasp the potato and place it on the table with right gripper", + "Close the lower refrigerator drawer", + "Place the green bell pepper in the lower drawer with left gripper", + "Put apple in the refrigerator drawer", + "Take out the pumpkin and place it on the table", + "Close the lower drawer with the right gripper", + "Grasp the orange and place it on the table with right gripper", + "Put potato in the refrigerator drawer", + "Take out the green pepper and place it on the table", + "Take out the orange and place it on the tray", + "Grasp the green bell pepper and place it on the table with right gripper", + "Take out the apple and place it on the table", + "Open the lower drawer with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_take_and_put_away_garden_stuff_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Galaxea_R1_Lite_arrange_baai_then_brain": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Galaxea_R1_Lite_arrange_baai_then_brain", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "eduction", + "level2": "school", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "early_education_toys", + "level1": "buiding_blocks", + "level2": "early_education_toys", + "level3": null, + "level4": null, + "level5:operation_platform_height": 77.2 + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "use the gripper to find blocks with the letters b, a, a, and i on the table and arrange them into BAAI, then find r and N and turn the arranged baai into brian." + ], + "sub_tasks": [ + { + "subtask": "Abnormal", + "subtask_index": 0 + }, + { + "subtask": "Place the second block A in the third location", + "subtask_index": 1 + }, + { + "subtask": "Place the block I in the fourth location", + "subtask_index": 2 + }, + { + "subtask": "Place the first block A in the second location", + "subtask_index": 3 + }, + { + "subtask": "Place the block B in the first location", + "subtask_index": 4 + }, + { + "subtask": "End", + "subtask_index": 5 + }, + { + "subtask": "Move the block A out of the second location", + "subtask_index": 6 + }, + { + "subtask": "Place the block N in the fifth location", + "subtask_index": 7 + }, + { + "subtask": "Place the block R in the second location", + "subtask_index": 8 + }, + { + "subtask": "null", + "subtask_index": 9 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "robot_name": [ + "Galaxea_R1_Lite" + ], + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_left_rgb", + "cam_head_right_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" + ], + "came_info": { + "cam_head_left_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", + "cam_head_right_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "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": 56, + "total_frames": 44471, + "fps": 30, + "total_tasks": 10, + "total_videos": 224, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "1.26 GB" + }, + "frame_num": 44471, + "dataset_size": "1.26 GB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_arrange_baai_then_brain_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (44 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:55" + }, + "features": { + "observation.images.cam_head_left_rgb": { + "dtype": "video", + "shape": [ + 720, + 1280, + 3 ], "names": [ "height", @@ -44436,8 +39004,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -44446,11 +39014,11 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_head_right_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -44459,8 +39027,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -44469,10 +39037,10 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 480, + 360, 640, 3 ], @@ -44482,7 +39050,7 @@ "channels" ], "info": { - "video.height": 480, + "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -44492,10 +39060,10 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 480, + 360, 640, 3 ], @@ -44505,7 +39073,7 @@ "channels" ], "info": { - "video.height": 480, + "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -44518,7 +39086,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -44533,36 +39101,14 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -44577,30 +39123,8 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "timestamp": { @@ -44751,6 +39275,66 @@ 2 ], "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" } }, "authors": { @@ -44772,132 +39356,524 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "Cobot_Magic_take_out_the_bread": { - "path": "Cobot_Magic_take_out_the_bread", - "dataset_name": "take_out_the_bread", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" + "Agilex_Cobot_Magic_open_drawer_bottom": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" + "language": [ + "en" ], - "tasks": "use the right arm to put a slice of bread into the plate", + "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_open_drawer_bottom", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "office_workspace", + "level2": "office", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { "object_name": "table", - "level1": "furniture", + "level1": "home_storage", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "bread_machine", - "level1": "kitchenware", - "level2": "bread_machine", + "object_name": "three_layer_transparent_drawer", + "level1": "laboratory_supplies", + "level2": "three_layer_transparent_drawer", "level3": null, "level4": null, "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "open the bottom drawer." + ], + "sub_tasks": [ + { + "subtask": "end", + "subtask_index": 0 }, { - "object_name": "bread", - "level1": "food", - "level2": "bread", - "level3": null, - "level4": null, - "level5": null + "subtask": "Pull open the drawer with the left gripper", + "subtask_index": 1 }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", - "level3": null, - "level4": null, - "level5": null + "subtask": "Abnormal", + "subtask_index": 2 }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grab the bottom drawer with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Pull open the drawer with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Grab the bottom drawer with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "null", + "subtask_index": 6 } ], - "operation_platform_height": 77.2, - "frame_range": "0-333147", - "dataset_size": "15.1GB", - "statistics": { - "total_episodes": 588, - "total_frames": 333147, - "total_tasks": 6, - "total_videos": 1764, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "2fb93e01-1b87-444e-8fef-493ab51a3c3f", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "pull" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Agilex_Cobot_Magic" ], - "sub_tasks": [ - "use the right arm to put a slice of bread into the plate", - "use the left arm to put a slice of bread into the empty plate", - "use the left arm to take out a slice of bread", - "use the right arm to take out a slice of bread", - "null" + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "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": 18620, + "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": "182.16 MB" + }, + "frame_num": 18620, + "dataset_size": "182.16 MB", + "data_structure": "Agilex_Cobot_Magic_open_drawer_bottom_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:49" + }, + "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", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_take_out_the_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_take_out_the_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "Cobot_Magic_mobile_cube": { - "path": "Cobot_Magic_mobile_cube", - "dataset_name": "mobile_cube", + "Cobot_Magic_clean_up_the_tableware": { + "path": "Cobot_Magic_clean_up_the_tableware", + "dataset_name": "clean_up_the_tableware", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -44908,7 +39884,7 @@ "pick", "place" ], - "tasks": "End", + "tasks": "use the left arm to grab a blue teacup", "objects": [ { "object_name": "table", @@ -44919,27 +39895,59 @@ "level5": null }, { - "object_name": "cube_block", - "level1": "toy", - "level2": "cube_block", + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "container", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-21487", - "dataset_size": "347.9MB", + "frame_range": "0-18127", + "dataset_size": "1.0GB", "statistics": { - "total_episodes": 99, - "total_frames": 21487, + "total_episodes": 33, + "total_frames": 18127, "total_tasks": 1, - "total_videos": 297, + "total_videos": 99, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "ec621804-bf42-4f9d-971a-bbe5cb197144", + "dataset_uuid": "ad865471-39ce-4343-92f4-8dcc8ed48830", "language": [ "en", "zh" @@ -44948,109 +39956,33 @@ "robotics" ], "sub_tasks": [ + "use the left arm to grab a blue teacup", + "Grasp the bowl with the left gripper", + "use the right arm to grab a blue rice bowl", + "Place the bowl on the plate with the left gripper", + "use the left arm to put the blue soup spoon into the blue teacup in the middle", + "Grasp the spoon with the left gripper", + "Place the spoon on the cup with the left gripper", + "use the right arm to put the blue soup spoon on the blue large plate in the middle", + "use the left arm to put the blue teacup into the blue rice bowl in the middle", + "Grasp the cup with the left gripper", + "use the right arm to put the blue soup spoon into the blue teacup in the middle", + "use the right arm to put the blue teacup into the blue rice bowl in the middle", + "use the left arm to grab a blue rice bowl", + "use the right arm to grab a blue teacup", + "Place the spoon on the cup with the right gripper", + "use the right arm to put the blue rice bowl into the blue large plate in the middle", + "abnormal", + "Grasp the cup with the right gripper", + "use the right arm to grab a blue soup spoon", + "Grasp the bowl with the right gripper", + "Grasp the spoon with the right gripper", + "Place the cup on the bowl with the right gripper", + "Place the cup on the bowl with the left gripper", + "use the left arm to grab a blue soup spoon", "End", - "Pick up the small cube", - "Place the small cube on the ahead of the table", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_mobile_cube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_mobile_cube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_stack_bowls": { - "path": "G1edu-u3_stack_bowls", - "dataset_name": "stack_bowls", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the bowl on the right onto the bowl in the middle with right gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "bowl", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-166122", - "dataset_size": "7.0GB", - "statistics": { - "total_episodes": 261, - "total_frames": 166122, - "total_tasks": 2, - "total_videos": 783, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "d27ed137-4947-4948-b818-a02094cab254", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the bowl on the right onto the bowl in the middle with right gripper", - "Grasp the bowl on the right with the right gripper", - "Grasp the bowl on the left with the left gripper", - "End", - "Static", - "Abnormal", - "Place the bowl on the left onto the bowl in the middle with left gripper", + "Place the bowl on the plate with the right gripper", + "use the left arm to put the blue rice bowl into the blue large plate in the middle", "null" ], "annotations": { @@ -45088,842 +40020,155 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_stack_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_stack_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_clean_up_the_tableware_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_fold_shorts": { - "path": "RMC-AIDA-L_fold_shorts", - "dataset_name": "fold_shorts", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "fold", - "place" - ], - "tasks": "Grab the lower left pant leg with your left hand.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "shorts", - "level1": "clothing", - "level2": "shorts", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-730046", - "dataset_size": "9.5GB", - "statistics": { - "total_episodes": 866, - "total_frames": 730046, - "total_tasks": 4, - "total_videos": 2598, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "5f973d3e-d7a6-40c1-8ecc-0a4a158505f7", - "language": [ - "en", - "zh" - ], + "Airbot_MMK2_take_toy_car": { "task_categories": [ "robotics" ], - "sub_tasks": [ - "Grab the lower left pant leg with your left hand.", - "Grab the lower right pant leg with your right hand.", - "Fold the bottom of the shorts upward with right gripper", - "Fold the pants from right to left with the right gripper", - "Hold the waistband with your left hand.", - "Hold the lower right waistband with your right hand.", - "Grab the waistband with your right hand.", - "Fold to the right with your left hand.", - "Press the middle of the pants with your left hand.", - "Fold upward with your left hand.", - "Fold to the left with your right hand.", - "Hold the lower left waistband with your left hand.", - "Place the folded trousers onto the center area with the right grippers", - "Place the folded trousers onto the center area with right gripper", - "Place the folded trousers onto the center area with the left grippers", - "Grasp the right lower side of the waistband of the shorts with right gripper", - "end", - "Anomaly detected.", - "Grasp the lower left leg of the shorts with left gripper", - "Fold the shorts from right to left with right gripper", - "abnormal", - "Fold the pants from left to right with the left gripper", - "Fold the bottom of the shorts upward with left gripper", - "Fold the bottom of the pants upward with both grippers", - "Adjust the pants with your right hand.", - "Fold upward with your right hand.", - "Adjust the pants with your left hand.", - "Press the middle of the pants with your right hand.", - "null" + "language": [ + "en" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "RMC-AIDA-L_fold_shorts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_fold_shorts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_place_bottle_c": { - "path": "G1edu-u3_place_bottle_c", - "dataset_name": "place_bottle_c", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place" + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } ], - "tasks": "End", + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_take_toy_car", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "other", + "level2": "laboratory", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "toy_car", + "level1": "doll", + "level2": "toy_car", "level3": null, "level4": null, "level5": null }, { - "object_name": "bottle", - "level1": "container", - "level2": "bottle", + "object_name": "white_small_plate", + "level1": "plates", + "level2": "white_small_plate", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-7277", - "dataset_size": "92.3MB", - "statistics": { - "total_episodes": 29, - "total_frames": 7277, - "total_tasks": 1, - "total_videos": 29, - "total_chunks": 1, - "chunks_size": 30, - "fps": 30 - }, - "dataset_uuid": "5e6d1031-7c1e-4cd5-a371-1682b697fabd", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "take the toy car out of the plate by hand and place it on the table." ], "sub_tasks": [ - "End", - "Place the water bottle on the table with left gripper", - "Place the water bottle on the table with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_place_bottle_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_place_bottle_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_hang_clothes": { - "path": "R1_Lite_hang_clothes", - "dataset_name": "hang_clothes", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pick up the clothes rack on the clothesline with the right gripper", - "objects": [ { - "object_name": "clothesline", - "level1": "tool", - "level2": "clothesline", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the toy car on the plate and with the left gripper", + "subtask_index": 0 }, { - "object_name": "clothes_hanger", - "level1": "daily_necessities", - "level2": "clothes_hanger", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the toy car on the plate and with the right gripper", + "subtask_index": 1 }, { - "object_name": "clothes", - "level1": "fabric", - "level2": "clothes", - "level3": null, - "level4": null, - "level5": null + "subtask": "Abnormal", + "subtask_index": 2 }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 3 + }, + { + "subtask": "Place the toy car on the table with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Place the toy car on the table with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "null", + "subtask_index": 6 } ], - "operation_platform_height": null, - "frame_range": "0-289827", - "dataset_size": "22.8GB", - "statistics": { - "total_episodes": 109, - "total_frames": 289827, - "total_tasks": 1, - "total_videos": 327, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "f7bbf41d-af0d-4f31-9158-8e7987fb7c9f", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Airbot_MMK2" ], - "sub_tasks": [ - "Pick up the clothes rack on the clothesline with the right gripper", - "Hang the clothes rack on the clothesline with the right gripper", - "Take the clothes off the clothes rack with the right gripper", - "End", - "Hang the clothes on the clothes rack", - "Put clothes in the basket with the left gripper", - "Pick up the clothes rack on the clothesline", - "Hang the clothes rack on the clothesline", - "Pick up clothes from the basket", - "Take the clothes off the clothes rack", - "Hang the clothes on the clothes rack with both grippers", - "Pick up clothes from the basket with the left gripper", - "abnormal", - "Put clothes in the basket", - "null" + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_hang_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_hang_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_hotel_services_i": { - "path": "leju_robot_hotel_services_i", - "dataset_name": "hotel_services_i", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "card", - "level1": "nfc", - "level2": "card", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-33547", - "dataset_size": "2.1GB", - "statistics": { - "total_episodes": 189, - "total_frames": 33547, - "total_tasks": 1, - "total_videos": 567, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "fc45ac73-e09b-491e-9dc0-71c8c532f0a7", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Take out the room card with right gripper", - "Hand the room card to the guest with right gripper", - "Hand the room card to the target.", - "Pick up the room card from the card holder.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_place_the_yellow_block": { - "path": "AIRBOT_MMK2_place_the_yellow_block", - "dataset_name": "place_the_yellow_block", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "lower" - ], - "tasks": "Static", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "square_block", - "level1": "toy", - "level2": "square_block", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rubiks_cube", - "level1": "toy", - "level2": "rubiks_cube", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-10030", - "dataset_size": "501.4MB", - "statistics": { - "total_episodes": 47, - "total_frames": 10030, - "total_tasks": 1, - "total_videos": 188, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "5627f996-6a84-4ee5-942f-6a546d68645f", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Static", - "End", - "Abnormal", - "Grasp the yellow block with left gripper", - "Grasp the yellow block on the magic cube with right gripper", - "Place the yellow block on the magic cube with left gripper", - "Place the yellow block on the table with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_box_storage_parcel_b": { - "path": "leju_robot_box_storage_parcel_b", - "dataset_name": "box_storage_parcel_b", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the package into the parcel locker.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "parcel", - "level1": "container", - "level2": "parcel", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "conveyor_belt", - "level1": "industrial_equipment", - "level2": "conveyor_belt", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-186311", - "dataset_size": "9.5GB", - "statistics": { - "total_episodes": 497, - "total_frames": 186311, - "total_tasks": 1, - "total_videos": 1491, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "5e55ad50-424b-4a78-9d00-e0d7a45f48f7", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the package into the parcel locker.", - "Pick up the package from the inbound machine.", - "Pick up the package from the conveyor belt.", - "Place the package onto the inbound machine.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_swap_sponge_paper_box_plate": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } - ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_swap_sponge_paper_box_plate", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "household", - "level2": "kitchen", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", - "objects": [ - { - "object_name": "paper_boxes", - "level1": "home_storage", - "level2": "paper_boxes", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cleaning_sponge", - "level1": "daily_necessities", - "level2": "cleaning_sponge", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "take the sponge out of the plate with left hand and put the box in with right hand." - ], - "sub_tasks": [ - { - "subtask": "Place the sponge on the table with the left gripper", - "subtask_index": 0 - }, - { - "subtask": "Grasp the mouse box with the right gripper", - "subtask_index": 1 - }, - { - "subtask": "Abnormal", - "subtask_index": 2 - }, - { - "subtask": "Static", - "subtask_index": 3 - }, - { - "subtask": "Place the mouse box into the plate with the right gripper", - "subtask_index": 4 - }, - { - "subtask": "End", - "subtask_index": 5 - }, - { - "subtask": "Grasp the sponge in the plate with the left gripper", - "subtask_index": 6 - }, - { - "subtask": "null", - "subtask_index": 7 - } - ], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "robot_name": [ - "Airbot_MMK2" - ], - "end_effector_type": "five_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" - ], - "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" - }, - "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", - "annotations": [ - "eef_acc_mag_annotation.jsonl", - "eef_direction_annotation.jsonl", - "eef_velocity_annotation.jsonl", - "gripper_activity_annotation.jsonl", - "gripper_mode_annotation.jsonl", - "scene_annotations.jsonl", - "subtask_annotations.jsonl" + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 50, - "total_frames": 8731, + "total_episodes": 49, + "total_frames": 14333, "fps": 30, - "total_tasks": 8, - "total_videos": 200, + "total_tasks": 7, + "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "272.24 MB" + "dataset_size": "457.72 MB" }, - "frame_num": 8731, - "dataset_size": "272.24 MB", - "data_structure": "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 14333, + "dataset_size": "457.72 MB", + "data_structure": "Airbot_MMK2_take_toy_car_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", "splits": { - "train": "0:49" + "train": "0:48" }, "features": { "observation.images.cam_head_rgb": { @@ -46277,20 +40522,20 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_storage_spoon": { - "path": "AIRBOT_MMK2_storage_spoon", - "dataset_name": "storage_spoon", + "G1edu-u3_pick_up_the_bread_az": { + "path": "G1edu-u3_pick_up_the_bread_az", + "dataset_name": "pick_up_the_bread_az", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "Static", + "tasks": "End", "objects": [ { "object_name": "table", @@ -46301,35 +40546,196 @@ "level5": null }, { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", + "object_name": "basket", + "level1": "home_storage", + "level2": "basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "basin", - "level1": "container", - "level2": "basin", + "object_name": "bread", + "level1": "food", + "level2": "bread", "level3": null, "level4": null, "level5": null - } + }, + { + "object_name": "bowl", + "level1": "bowl", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "grape", + "level1": "fruits", + "level2": "grape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "fruits", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pear", + "level1": "fruits", + "level2": "pear", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "apple", + "level1": "fruit", + "level2": "apple", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-14542", + "dataset_size": "169.7MB", + "statistics": { + "total_episodes": 26, + "total_frames": 14542, + "total_tasks": 1, + "total_videos": 26, + "total_chunks": 1, + "chunks_size": 27, + "fps": 30 + }, + "dataset_uuid": "95b46832-04a8-4073-b033-dbe0d38fe742", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Grasp the long bread and lift it to the center of the view with left gripper", + "Grasp the long bread and lift it to the center of the view with right gripper", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_up_the_bread_az_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_move_beverage": { + "path": "Cobot_Magic_move_beverage", + "dataset_name": "move_beverage", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "green_bottle_beverage", + "level1": "drink", + "level2": "green_bottle_beverage", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "red_bottle_beverage", + "level1": "drink", + "level2": "red_bottle_beverage", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "black_bottle_beverage", + "level1": "drink", + "level2": "black_bottle_beverage", + "level3": null, + "level4": null, + "level5": null + } ], "operation_platform_height": 77.2, - "frame_range": "0-12204", - "dataset_size": "363.2MB", + "frame_range": "0-31813", + "dataset_size": "636.5MB", "statistics": { - "total_episodes": 49, - "total_frames": 12204, + "total_episodes": 100, + "total_frames": 31813, "total_tasks": 1, - "total_videos": 196, + "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "d4290af8-7a4d-4868-8a9b-2962225648e8", + "dataset_uuid": "b6d0e7b1-1a5c-4188-bdca-cab2a7c613ed", "language": [ "en", "zh" @@ -46338,12 +40744,11 @@ "robotics" ], "sub_tasks": [ - "Static", - "Grasp the spoon with the right gripper", "End", - "Grasp the spoon with the left gripper", - "Place the spoon into the basin with the right gripper", - "Place the spoon into the basin with the left gripper", + "Grasp the beverage bottle placed at the back of the desk", + "Place the drink at the front of the table", + "Pick up the drink", + "Place the beverage bottle to the front of the table", "null" ], "annotations": { @@ -46381,10 +40786,322 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_move_beverage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_take_cup": { + "R1_Lite_put_the_shoes_into_the_shoe_box": { + "path": "R1_Lite_put_the_shoes_into_the_shoe_box", + "dataset_name": "put_the_shoes_into_the_shoe_box", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Put the shoes out of the shoe box", + "objects": [ + { + "object_name": "shoes", + "level1": "clothing", + "level2": "shoes", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "shoe_box", + "level1": "container", + "level2": "shoe_box", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-87219", + "dataset_size": "3.8GB", + "statistics": { + "total_episodes": 106, + "total_frames": 87219, + "total_tasks": 1, + "total_videos": 318, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "87e16c2a-8d5b-4e0b-9706-cfae7e2b29e9", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Put the shoes out of the shoe box", + "abnormal", + "Put the shoes into the shoe box", + "Open the shoe box", + "Close the shoe box", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_put_the_shoes_into_the_shoe_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_put_the_tissue_box_al": { + "path": "G1edu-u3_put_the_tissue_box_al", + "dataset_name": "put_the_tissue_box_al", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tissue", + "level1": "daily_necessities", + "level2": "tissue", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-10816", + "dataset_size": "142.3MB", + "statistics": { + "total_episodes": 39, + "total_frames": 10816, + "total_tasks": 1, + "total_videos": 39, + "total_chunks": 1, + "chunks_size": 41, + "fps": 30 + }, + "dataset_uuid": "39aeb43d-8473-408d-a61d-bdd24134ab9a", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Place the tissue box on the table with both gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_put_the_tissue_box_al_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_box_storage_parcel_i": { + "path": "leju_robot_box_storage_parcel_i", + "dataset_name": "box_storage_parcel_i", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Pick up the bottle from the table.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parcel", + "level1": "container", + "level2": "parcel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "conveyor_belt", + "level1": "industrial_equipment", + "level2": "conveyor_belt", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-313461", + "dataset_size": "19.3GB", + "statistics": { + "total_episodes": 222, + "total_frames": 313461, + "total_tasks": 1, + "total_videos": 666, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "6e0f6aaf-d447-436f-bfc3-bedd5a1bce04", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pick up the bottle from the table.", + "Flip the bottle to face forward.", + "Take the bottle from the table.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_box_storage_parcel_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_storage_cake_pan": { "task_categories": [ "robotics" ], @@ -46414,11 +41131,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_take_cup", + "dataset_name": "Airbot_MMK2_storage_cake_pan", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "catering", - "level2": "cafe", + "level1": "household", + "level2": "kitchen", "level3": null, "level4": null, "level5": null @@ -46426,17 +41143,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "cup", - "level1": "cups", - "level2": "cup", + "object_name": "pan", + "level1": "kitchen_supplies", + "level2": "pan", "level3": null, "level4": null, "level5": null }, { - "object_name": "lid", - "level1": "storage_utensils", - "level2": "lid", + "object_name": "cake", + "level1": "bread", + "level2": "cake", "level3": null, "level4": null, "level5": null @@ -46444,27 +41161,27 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "take the cup off the white lid and place them on the table by hands." + "put the pot down with left hand and place the cake in it with right hand." ], "sub_tasks": [ { - "subtask": "place the cup in the table use the left gripper", + "subtask": "Grasp the frying pan with the left gripper", "subtask_index": 0 }, { - "subtask": "place the cup in the table use the right gripper", + "subtask": "Grasp the bread with the right gripper", "subtask_index": 1 }, { - "subtask": "Grasp the cup the left gripper", + "subtask": "End", "subtask_index": 2 }, { - "subtask": "Grasp the cup the right gripper", + "subtask": "Place the bread on the frying pan with the right gripper", "subtask_index": 3 }, { - "subtask": "End", + "subtask": "Place the frying pan on the table with the left gripper", "subtask_index": 4 }, { @@ -46473,10 +41190,9 @@ } ], "atomic_actions": [ - "pinch", - "place", - "clip", - "takeout" + "grasp", + "pick", + "place" ], "robot_name": [ "Airbot_MMK2" @@ -46510,23 +41226,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 35, - "total_frames": 5435, + "total_episodes": 48, + "total_frames": 8832, "fps": 30, "total_tasks": 6, - "total_videos": 140, + "total_videos": 192, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "169.73 MB" + "dataset_size": "250.91 MB" }, - "frame_num": 5435, - "dataset_size": "169.73 MB", - "data_structure": "Airbot_MMK2_take_cup_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (23 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_front_rgb\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 8832, + "dataset_size": "250.91 MB", + "data_structure": "Airbot_MMK2_storage_cake_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": "0:34" + "train": "0:47" }, "features": { "observation.images.cam_head_rgb": { @@ -46880,311 +41596,7 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Cobot_Magic_mobile_cube_blackboard": { - "path": "Cobot_Magic_mobile_cube_blackboard", - "dataset_name": "mobile_cube_blackboard", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the block at the correct position to assemble the letter S", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cube_block", - "level1": "toy", - "level2": "cube_block", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-191398", - "dataset_size": "3.4GB", - "statistics": { - "total_episodes": 100, - "total_frames": 191398, - "total_tasks": 1, - "total_videos": 300, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "679f07f9-efb6-4a77-9347-2423da9981cd", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the block at the correct position to assemble the letter S", - "out of view", - "End", - "Pick up the block on the table", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_box_storage_c": { - "path": "AgiBot-g1_box_storage_c", - "dataset_name": "box_storage_c", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Pick up the mouse and power cord box.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-23361", - "dataset_size": "10.2GB", - "statistics": { - "total_episodes": 39, - "total_frames": 23361, - "total_tasks": 1, - "total_videos": 312, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "a55ac5d2-061f-4ff3-9670-41aef4e03037", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick up the mouse and power cord box.", - "Place the mouse and power cord box into the container.", - "End", - "Place the paper box in the another big box", - "Abnormal", - "Grasp the paper box", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_box_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_box_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_open_and_close_nightstand_drawer": { - "path": "R1_Lite_open_and_close_nightstand_drawer", - "dataset_name": "open_and_close_nightstand_drawer", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "push" - ], - "tasks": "Open the nightstand drawer", - "objects": [ - { - "object_name": "nightstand", - "level1": "furniture", - "level2": "nightstand", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "remote_control", - "level1": "electric_appliance", - "level2": "remote_control", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tissue", - "level1": "daily_necessities", - "level2": "tissue", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-104258", - "dataset_size": "7.1GB", - "statistics": { - "total_episodes": 77, - "total_frames": 104258, - "total_tasks": 1, - "total_videos": 231, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "f53ef972-f453-4892-bf9c-cd8d3c22762e", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Open the nightstand drawer", - "Put the remote controls on the table in the drawer one by one", - "Take the remote control out of the drawer one by one and place them on the table", - "Take the tissue out of the drawer one by one and place them on the table", - "Close the nightstand drawer", - "Put the tissue on the table in the drawer one by one", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_open_and_close_nightstand_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_open_and_close_nightstand_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Galaxea_R1_Lite_mix_color_small_test_tube": { + "Airbot_MMK2_storage_shark_doll": { "task_categories": [ "robotics" ], @@ -47214,11 +41626,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_mix_color_small_test_tube", + "dataset_name": "Airbot_MMK2_storage_shark_doll", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "office_workspace", - "level2": "office", + "level1": "commercial_convenience", + "level2": "supermarket", "level3": null, "level4": null, "level5": null @@ -47226,41 +41638,25 @@ "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": "red_pigment", - "level1": "materials", - "level2": "red_pigment", + "object_name": "table", + "level1": "home_storage", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "test_tube_rack", - "level1": "holding_utensils", - "level2": "test_tube_rack", + "object_name": "shark_doll", + "level1": "toys", + "level2": "shark_doll", "level3": null, "level4": null, "level5": null }, { - "object_name": "small_test_tubes", + "object_name": "lid", "level1": "laboratory_supplies", - "level2": "small_test_tubes", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "beaker", - "level1": "holding_utensils", - "level2": "beaker", + "level2": "lid", "level3": null, "level4": null, "level5": null @@ -47268,96 +41664,51 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "pick up the test tube with red pigment and the test tube with blue pigment by grippers and pour them into the container." + "pick up the shark doll and put it in the lid." ], "sub_tasks": [ { - "subtask": "Pour the blue reagent into the graduated cylinder with the left gripper", + "subtask": "Place the whale on the white lid with the right gripper", "subtask_index": 0 }, { - "subtask": "Pour the red reagent into the graduated cylinder with the left gripper", + "subtask": "Grasp the whale with the left gripper", "subtask_index": 1 }, { - "subtask": "Pour the yellow reagent into the graduated cylinder with the left gripper", + "subtask": "Deliver the whale from left gripper to right gripper", "subtask_index": 2 }, - { - "subtask": "Pour the red reagent into the graduated cylinder with the right gripper", - "subtask_index": 3 - }, - { - "subtask": "Grasp the yellow reagent with the left gripper", - "subtask_index": 4 - }, - { - "subtask": "Grasp the blue reagent with the left gripper", - "subtask_index": 5 - }, { "subtask": "End", - "subtask_index": 6 - }, - { - "subtask": "Pour the blue reagent into the graduated cylinder with the right gripper", - "subtask_index": 7 - }, - { - "subtask": "Place the test tube into the brown cup with the left gripper", - "subtask_index": 8 - }, - { - "subtask": "Grasp the yellow reagent with the right gripper", - "subtask_index": 9 - }, - { - "subtask": "Pour the yellow reagent into the graduated cylinder with the right gripper", - "subtask_index": 10 - }, - { - "subtask": "Grasp the blue reagent with the right gripper", - "subtask_index": 11 - }, - { - "subtask": "Place the test tube into the brown cup with the right gripper", - "subtask_index": 12 - }, - { - "subtask": "Grasp the red reagent with the left gripper", - "subtask_index": 13 - }, - { - "subtask": "Grasp the red reagent with the right gripper", - "subtask_index": 14 + "subtask_index": 3 }, { "subtask": "null", - "subtask_index": 15 + "subtask_index": 4 } ], "atomic_actions": [ "grasp", - "pick", "place", - "pour" + "pick" ], "robot_name": [ - "Galaxea_R1_Lite" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "end_effector_type": "five_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_left_rgb", - "cam_head_right_rgb", + "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "cam_right_wrist_rgb", + "cam_front_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" + "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", @@ -47374,30 +41725,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 203, - "total_frames": 147521, + "total_episodes": 93, + "total_frames": 13034, "fps": 30, - "total_tasks": 16, - "total_videos": 812, + "total_tasks": 5, + "total_videos": 372, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, + "state_dim": 36, + "action_dim": 36, "camera_views": 4, - "dataset_size": "6.71 GB" + "dataset_size": "461.32 MB" }, - "frame_num": 147521, - "dataset_size": "6.71 GB", - "data_structure": "Galaxea_R1_Lite_mix_color_small_test_tube_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (191 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 13034, + "dataset_size": "461.32 MB", + "data_structure": "Airbot_MMK2_storage_shark_doll_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (81 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", "splits": { - "train": "0:202" + "train": "0:92" }, "features": { - "observation.images.cam_head_left_rgb": { + "observation.images.cam_head_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -47406,8 +41757,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -47416,11 +41767,11 @@ "has_audio": false } }, - "observation.images.cam_head_right_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -47429,8 +41780,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -47439,11 +41790,11 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -47452,8 +41803,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -47462,11 +41813,11 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_front_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -47475,9 +41826,9 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, - "video.codec": "av1", + "video.height": 480, + "video.width": 640, + "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, @@ -47488,7 +41839,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 14 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -47503,14 +41854,36 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "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": [ - 14 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -47525,8 +41898,30 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "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": { @@ -47677,66 +42072,6 @@ 2 ], "dtype": "int32" - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" } }, "authors": { @@ -47758,14 +42093,14 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "leju_robot_hotel_services_aa": { - "path": "leju_robot_hotel_services_aa", - "dataset_name": "hotel_services_aa", + "Cobot_Magic_storage_plate": { + "path": "Cobot_Magic_storage_plate", + "dataset_name": "storage_plate", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ @@ -47773,7 +42108,7 @@ "pick", "place" ], - "tasks": "End", + "tasks": "Left grab the white plate.", "objects": [ { "object_name": "table", @@ -47784,43 +42119,43 @@ "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "rack", + "level1": "furniture", + "level2": "rack", "level3": null, "level4": null, "level5": null }, { - "object_name": "card", - "level1": "nfc", - "level2": "card", + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", "level3": null, "level4": null, "level5": null }, { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-70570", - "dataset_size": "4.5GB", + "operation_platform_height": 77.2, + "frame_range": "0-57019", + "dataset_size": "903.4MB", "statistics": { - "total_episodes": 419, - "total_frames": 70570, + "total_episodes": 84, + "total_frames": 57019, "total_tasks": 1, - "total_videos": 1257, + "total_videos": 252, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "fps": 50 }, - "dataset_uuid": "dcd0025f-866e-4a2c-8898-6bf7dc424bc2", + "dataset_uuid": "9f0b0953-fa62-4d10-8b2a-17b1ff44e9cf", "language": [ "en", "zh" @@ -47829,11 +42164,20 @@ "robotics" ], "sub_tasks": [ - "End", - "Take out the room card with right gripper", - "Hand the room card to the guest with right gripper", - "Hand the room card to the target.", - "Pick up the room card from the card holder.", + "Left grab the white plate.", + "Left grab the gray plate.", + "Place the plate on the rack", + "Right place it at the front of the shelf.", + "Right receive the plate.", + "Pick up the plate from the table", + "Left lift the plate.", + "end", + "Left grab the blue plate.", + "Left grab the yellow plate.", + "Hand over the plate", + "Right place it at the back of the shelf.", + "Left grab the pink plate.", + "Left grab the green plate.", "null" ], "annotations": { @@ -47871,20 +42215,21 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_storage_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_storage_plate_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_pick_apple_b": { - "path": "G1edu-u3_pick_apple_b", - "dataset_name": "pick_apple_b", + "Tianqin_A2_place_the_paper_box": { + "path": "Tianqin_A2_place_the_paper_box", + "dataset_name": "place_the_paper_box", "robot_type": "", "end_effector_type": [ - "three_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick" + "pick", + "place" ], "tasks": "End", "objects": [ @@ -47897,27 +42242,27 @@ "level5": null }, { - "object_name": "apple", - "level1": "fruit", - "level2": "apple", + "object_name": "box", + "level1": "home_storage", + "level2": "box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-8289", - "dataset_size": "102.4MB", + "frame_range": "0-94841", + "dataset_size": "3.0GB", "statistics": { - "total_episodes": 26, - "total_frames": 8289, + "total_episodes": 236, + "total_frames": 94841, "total_tasks": 1, - "total_videos": 26, + "total_videos": 708, "total_chunks": 1, - "chunks_size": 26, + "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "5cb12579-7559-4cdb-b6c3-8ffb1f039b19", + "dataset_uuid": "291007f6-cfd0-4e23-bc97-da01c0f367ac", "language": [ "en", "zh" @@ -47927,8 +42272,11 @@ ], "sub_tasks": [ "End", - "Grasp the apple and lift it to the center of the view with right gripper", - "Grasp the apple and lift it to the center of the view with left gripper", + "Abnormal", + "Grasp the paper box", + "Place the paper box on the table", + "Place the data cable in the another box", + "Grasp the data cable", "null" ], "annotations": { @@ -47966,23 +42314,24 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_pick_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Tianqin_A2_place_the_paper_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_hotel_services_ae": { - "path": "leju_robot_hotel_services_ae", - "dataset_name": "hotel_services_ae", + "Split_aloha_wipe_the_table": { + "path": "Split_aloha_wipe_the_table", + "dataset_name": "wipe_the_table", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", + "place", "pick", - "place" + "wipe" ], - "tasks": "Pick up the key card from the card box.", + "tasks": "Stand the paper cup upright", "objects": [ { "object_name": "table", @@ -47993,43 +42342,43 @@ "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "cup", + "level1": "container", + "level2": "cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "card", - "level1": "nfc", - "level2": "card", + "object_name": "rag", + "level1": "clothing", + "level2": "rag", "level3": null, "level4": null, "level5": null }, { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", + "object_name": "stain", + "level1": "garbage", + "level2": "stain", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-78394", - "dataset_size": "5.0GB", + "operation_platform_height": 77.2, + "frame_range": "0-166266", + "dataset_size": "1.3GB", "statistics": { - "total_episodes": 449, - "total_frames": 78394, - "total_tasks": 1, - "total_videos": 1347, + "total_episodes": 302, + "total_frames": 166266, + "total_tasks": 3, + "total_videos": 906, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "91537f29-b5ac-455f-bfdf-78d671e6f66d", + "dataset_uuid": "c5648c51-14f0-4d84-a3cc-2fd1c28069a8", "language": [ "en", "zh" @@ -48038,8 +42387,8 @@ "robotics" ], "sub_tasks": [ - "Pick up the key card from the card box.", - "Hand the key card to the target.", + "Stand the paper cup upright", + "Wipe the stains off the table with a rag", "null" ], "annotations": { @@ -48077,12 +42426,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_ae_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_ae_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_clear_the_desktop": { - "path": "Cobot_Magic_clear_the_desktop", - "dataset_name": "clear_the_desktop", + "RMC-AIDA-L_food_packaging": { + "path": "RMC-AIDA-L_food_packaging", + "dataset_name": "food_packaging", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -48091,9 +42440,10 @@ "atomic_actions": [ "grasp", "pick", - "place" + "place", + "pull" ], - "tasks": "Place the tablecloth", + "tasks": "Grab the pear with your right hand.", "objects": [ { "object_name": "table", @@ -48104,143 +42454,67 @@ "level5": null }, { - "object_name": "rag", - "level1": "clothing", - "level2": "rag", + "object_name": "bag", + "level1": "container", + "level2": "bag", "level3": null, "level4": null, "level5": null }, { - "object_name": "coffee_stains", - "level1": "garbage", - "level2": "coffee_stains", + "object_name": "lunch_box", + "level1": "container", + "level2": "lunch_box", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-157415", - "dataset_size": "1018.3MB", - "statistics": { - "total_episodes": 293, - "total_frames": 157415, - "total_tasks": 3, - "total_videos": 879, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 50 - }, - "dataset_uuid": "1ef1c2b2-61c3-459c-a45b-332abc0bdb3e", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the tablecloth", - "Sweep the stains on the table", - "End", - "Sweep the stains on the table with the right gripper", - "Place the tablecloth with the right gripper", - "Pick up the tablecloth", - "Pick up the tablecloth with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_clear_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_clear_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_moving_parts_h": { - "path": "leju_robot_moving_parts_h", - "dataset_name": "moving_parts_h", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Grasp the gray part with right gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "cucumber", + "level1": "vegetable", + "level2": "cucumber", "level3": null, "level4": null, "level5": null }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", + "object_name": "pear", + "level1": "fruit", + "level2": "pear", "level3": null, "level4": null, "level5": null }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-234391", - "dataset_size": "14.5GB", + "operation_platform_height": 77.2, + "frame_range": "0-817652", + "dataset_size": "9.4GB", "statistics": { - "total_episodes": 162, - "total_frames": 234391, - "total_tasks": 1, - "total_videos": 486, + "total_episodes": 497, + "total_frames": 817652, + "total_tasks": 2, + "total_videos": 1491, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "27a39264-c303-45a1-9046-1419479116fb", + "dataset_uuid": "59eb8786-4e0e-4c5e-b129-aec36ec1eda9", "language": [ "en", "zh" @@ -48249,17 +42523,21 @@ "robotics" ], "sub_tasks": [ - "Grasp the gray part with right gripper", - "Insert the small component into the corresponding slot on the workbench.", - "Move to the table behind body", - "Grasp the white part with right gripper", - "Abnormal", - "Move the small component to the workbench.", - "Place the gray part on the table with right gripper", - "Place the white part on the table with right gripper", - "End", - "Pick up the small component from the shelf.", - "Return to the initial position at the workbench.", + "Grab the pear with your right hand.", + "Pick up the lunch box with your right hand.", + "end", + "Put the cucumber into the lunch bag with your right hand.", + "Hold the lunch bag with your left hand.", + "Secure the lunch bag with your left hand.", + "Pick up the cucumber with your right hand.", + "Hold the lunch bag with your right hand.", + "Take the banana with your right hand.", + "Place the lunch box into the lunch bag with your right hand.", + "Place the peach into the lunch bag with your right hand.", + "Zip up the lunch bag with your right hand.", + "Put the banana into the lunch bag with your right hand.", + "Place the pear into the lunch bag with your right hand.", + "Grab the peach with your right hand.", "null" ], "annotations": { @@ -48297,15 +42575,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_beauty_sponge_and_cake_to_place": { - "path": "AIRBOT_MMK2_beauty_sponge_and_cake_to_place", - "dataset_name": "beauty_sponge_and_cake_to_place", + "AgiBot-g1_tool_storage": { + "path": "AgiBot-g1_tool_storage", + "dataset_name": "tool_storage", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ @@ -48313,7 +42591,7 @@ "pick", "place" ], - "tasks": "Static", + "tasks": "Place the mouse and power cord into the box.", "objects": [ { "object_name": "table", @@ -48324,43 +42602,35 @@ "level5": null }, { - "object_name": "beauty_blender", - "level1": "tools", - "level2": "beauty_blender", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cake", - "level1": "food", - "level2": "cake", + "object_name": "box", + "level1": "home_storage", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "tools", + "level1": "tools", + "level2": "tools", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-8096", - "dataset_size": "394.9MB", + "operation_platform_height": null, + "frame_range": "0-30600", + "dataset_size": "13.5GB", "statistics": { - "total_episodes": 50, - "total_frames": 8096, + "total_episodes": 67, + "total_frames": 30600, "total_tasks": 1, - "total_videos": 200, + "total_videos": 536, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "c4b8c5b1-7a57-48f3-9074-c2a019dbfd16", + "dataset_uuid": "4681c572-c9b2-475c-b9c1-66ed9f3d533d", "language": [ "en", "zh" @@ -48369,13 +42639,8 @@ "robotics" ], "sub_tasks": [ - "Static", - "End", - "Grasp the bullet into the plate with the left gripper", - "Grasp the cake on the table with the right gripper", - "Place the bullet on the table with the left gripper", - "Abnormal", - "Place the cake into the plate with the right gripper", + "Place the mouse and power cord into the box.", + "Grab and lift both the mouse and power cord from the accessory packaging area at the same time.", "null" ], "annotations": { @@ -48413,799 +42678,580 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_tool_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_pick_up_the_bottled_water_a": { - "path": "G1edu-u3_pick_up_the_bottled_water_a", - "dataset_name": "pick_up_the_bottled_water_a", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick" - ], - "tasks": "Grasp the water bottle and lift it to the center of the view with right gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bottle", - "level1": "container", - "level2": "bottle", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "water", - "level1": "beverages", - "level2": "water", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-12057", - "dataset_size": "153.0MB", - "statistics": { - "total_episodes": 29, - "total_frames": 12057, - "total_tasks": 1, - "total_videos": 29, - "total_chunks": 1, - "chunks_size": 29, - "fps": 30 - }, - "dataset_uuid": "e56a77d6-dbe5-4d31-a397-61ccb616903c", - "language": [ - "en", - "zh" - ], + "Agilex_Cobot_Magic_fold_jeans_shorts_children's": { "task_categories": [ "robotics" ], - "sub_tasks": [ - "Grasp the water bottle and lift it to the center of the view with right gripper", - "Grasp the water bottle and lift it to the center of the view with left gripper", - "End", - "Abnormal", - "null" + "language": [ + "en" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_basket_storage_apple": { - "path": "G1edu-u3_basket_storage_apple", - "dataset_name": "basket_storage_apple", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } ], - "tasks": "Grasp the apple with the left gripper", + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_fold_jeans_shorts_children's", + "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": "furniture", + "level1": "home_storage", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "home_storage", - "level2": "basket", + "object_name": "denim_shorts", + "level1": "clothing", + "level2": "denim_shorts", "level3": null, "level4": null, "level5": null }, { - "object_name": "apple", - "level1": "fruit", - "level2": "apple", + "object_name": "green_tray", + "level1": "kitchen_supplies", + "level2": "green_tray", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-45574", - "dataset_size": "1.5GB", - "statistics": { - "total_episodes": 88, - "total_frames": 45574, - "total_tasks": 1, - "total_videos": 264, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "ad45e74b-fccc-4f12-9f34-a2312636f61c", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "Fold the children's denim shorts in half with two grippers, then fold them in half again, and use the left claw to place the folded children's denim shorts on the tray." ], "sub_tasks": [ - "Grasp the apple with the left gripper", - "Place the apple into the basket with the left gripper", - "End", - "Static", - "Move the basket to the front of the table with the right gripper", - "Grasp the basket with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_basket_storage_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_basket_storage_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_open_and_close_the_freezer_door": { - "path": "R1_Lite_open_and_close_the_freezer_door", - "dataset_name": "open_and_close_the_freezer_door", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "open" - ], - "tasks": "Abnormal", - "objects": [ { - "object_name": "freezer", - "level1": "furniture", - "level2": "freezer", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the blue trousers with the right gripper", + "subtask_index": 0 }, { - "object_name": "ceramic_cup", - "level1": "container", - "level2": "ceramic_cup", - "level3": null, - "level4": null, - "level5": null + "subtask": "Fold the blue trousers upwards with the right gripper", + "subtask_index": 1 }, { - "object_name": "yogurt", - "level1": "food", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null + "subtask": "Fold the blue trousers from right to left with the right gripper", + "subtask_index": 2 }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the folded blue trousers on the green tray with the left gripper", + "subtask_index": 3 }, { - "object_name": "paper_cup", - "level1": "container", - "level2": "paper_cup", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-170369", - "dataset_size": "6.6GB", - "statistics": { - "total_episodes": 93, - "total_frames": 170369, - "total_tasks": 1, - "total_videos": 279, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "d59cd2ec-8eab-40f4-a630-29a9bbc3f309", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Abnormal", - "End", - "Place the ceramic cup on the table", - "Put the yoghurt in the freezer", - "Take the paper cup out of the freezer", - "Place the yoghurt on the table", - "Take the ceramic cup out of the freezer", - "Put the ceramic cup in the freezer", - "Take the yogurt out of the freezer", - "Open the freezer door", - "Put the paper cup in the freezer", - "Put the yogurt in the freezer", - "Place the paper cup on the table", - "Close the freezer door", - "Grasp the yogur", - "Place the yoghurt on the freezer", - "Place the yogurt on the table", - "Take the yoghurt out of the freezer", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_open_and_close_the_freezer_door_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_open_and_close_the_freezer_door_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_moving_parts_o": { - "path": "leju_robot_moving_parts_o", - "dataset_name": "moving_parts_o", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Return to the initial position at the shelf", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the blue trousers with the left gripper", + "subtask_index": 4 }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", - "level3": null, - "level4": null, - "level5": null + "subtask": "Fold the blue trousers upwards with the left gripper", + "subtask_index": 5 }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-745064", - "dataset_size": "51.1GB", - "statistics": { - "total_episodes": 490, - "total_frames": 745064, - "total_tasks": 1, - "total_videos": 1470, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "27cad5ab-323b-4157-acc6-9f7405263110", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Return to the initial position at the shelf", - "Grasp the black part with right gripper", - "End", - "Pick up the large material from the shelf", - "Place the black part on the table with right gripper", - "Move to the table behind body", - "Move the large material to the workbench", - "Insert the large material into the corresponding slot on the workbench", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_o_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_o_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_part_placement": { - "path": "leju_robot_part_placement", - "dataset_name": "part_placement", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Insert the small parts into the corresponding slots on the workbench.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Fold the blue trousers from left to right with the left gripper", + "subtask_index": 6 }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", - "level3": null, - "level4": null, - "level5": null + "subtask": "end", + "subtask_index": 7 }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", - "level3": null, - "level4": null, - "level5": null + "subtask": "null", + "subtask_index": 8 } ], - "operation_platform_height": null, - "frame_range": "0-796570", - "dataset_size": "50.4GB", - "statistics": { - "total_episodes": 538, - "total_frames": 796570, - "total_tasks": 1, - "total_videos": 1614, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "41b426f1-987c-4320-8263-5f89139cf899", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "lift", + "lower", + "fold" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Agilex_Cobot_Magic" ], - "sub_tasks": [ - "Insert the small parts into the corresponding slots on the workbench.", - "Move the large parts to the workbench.", - "Pick up the large parts from the shelf.", - "Grasp the black part with right gripper", - "Grasp the gray part with right gripper", - "End", - "Return to the initial position at the workbench.", - "Place the gray part on the table with right gripper", - "Place the black part on the table with right gripper", - "Move to the table behind body", - "Insert the large parts into the corresponding slots on the workbench.", - "Return to the initial position at the shelf.", - "Move the small parts to the workbench.", - "Pick up the small parts from the shelf.", - "null" + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_part_placement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_part_placement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_move_the_ball": { - "path": "Cobot_Magic_move_the_ball", - "dataset_name": "move_the_ball", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Put the picked-up object on the table.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "ball", - "level1": "toy", - "level2": "ball", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" ], - "operation_platform_height": 77.2, - "frame_range": "0-58184", - "dataset_size": "984.3MB", "statistics": { - "total_episodes": 100, - "total_frames": 58184, - "total_tasks": 1, - "total_videos": 300, + "total_episodes": 50, + "total_frames": 60562, + "fps": 30, + "total_tasks": 9, + "total_videos": 150, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "912.51 MB" }, - "dataset_uuid": "371a2f88-8a95-4044-ba5d-4c287fd9b679", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Put the picked-up object on the table.", - "Grab the rolling spherical object.", - "Grab the spherical object with your left arm.", - "Place the sphere on the white object.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "frame_num": 60562, + "dataset_size": "912.51 MB", + "data_structure": "Agilex_Cobot_Magic_fold_jeans_shorts_children_s_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:49" }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_move_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_move_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "alpha_bot_2_press_the_button_a": { - "path": "alpha_bot_2_press_the_button_a", - "dataset_name": "press_the_button_a", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "pressbutton" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null }, - { - "object_name": "button", - "level1": "toy", - "level2": "button", - "level3": null, - "level4": null, - "level5": null + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "water_bottle", - "level1": "beverages", - "level2": "water_bottle", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-91452", - "dataset_size": "1.9GB", - "statistics": { - "total_episodes": 116, - "total_frames": 91452, - "total_tasks": 1, - "total_videos": 464, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "f687e0d9-d736-45a4-89f6-ef7ff90a103a", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Press the button blocked by the bottle with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + } }, "authors": { "contributed_by": [ { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "Realman_RMC-AIDA-L_storage_towel_basket": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], "tags": [ "RoboCOIN", "LeRobot" ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "alpha_bot_2_press_the_button_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "alpha_bot_2_press_the_button_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "alpha_bot_2_recover_after_touching_an_obstacle": { - "path": "alpha_bot_2_recover_after_touching_an_obstacle", - "dataset_name": "recover_after_touching_an_obstacle", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick" + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } ], - "tasks": "Touch the bottle with left gripper", + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Realman_RMC-AIDA-L_storage_towel_basket", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "kitchen", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { "object_name": "table", @@ -49216,100 +43262,493 @@ "level5": null }, { - "object_name": "mineral_water", - "level1": "drinks", - "level2": "mineral_water", + "object_name": "basket", + "level1": "home_storage", + "level2": "basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "button", - "level1": "toy", - "level2": "button", + "object_name": "towel", + "level1": "daily_necessities", + "level2": "towel", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-128391", - "dataset_size": "3.7GB", - "statistics": { - "total_episodes": 130, - "total_frames": 128391, - "total_tasks": 1, - "total_videos": 520, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "aebc9a40-0a90-4fc3-a705-fbc5c7d23392", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "the left gripper grasp the basket on the table, the right grippe pick up the towel on the table and place it into the basket." ], "sub_tasks": [ - "Touch the bottle with left gripper", - "End", - "Touch the bottle with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_pass_the_cleaner_a": { - "path": "leju_robot_pass_the_cleaner_a", - "dataset_name": "pass_the_cleaner_a", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" + { + "subtask": "Place the towel into the basket with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Abnormal", + "subtask_index": 1 + }, + { + "subtask": "PIck up the basket with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "PIck up the towel with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "end", + "subtask_index": 4 + }, + { + "subtask": "null", + "subtask_index": 5 + } ], - "scene_type": [], "atomic_actions": [ "grasp", "pick", "place" ], - "tasks": "Turn the bottle to the front side.", + "robot_name": [ + "Realman_RMC-AIDA-L" + ], + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 118, + "total_frames": 58520, + "fps": 30, + "total_tasks": 6, + "total_videos": 354, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 28, + "action_dim": 28, + "camera_views": 3, + "dataset_size": "684.59 MB" + }, + "frame_num": 58520, + "dataset_size": "684.59 MB", + "data_structure": "Realman_RMC-AIDA-L_storage_towel_basket_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (106 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:117" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 28 + ], + "names": [ + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_arm_joint_7_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad", + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_arm_joint_7_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 28 + ], + "names": [ + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_arm_joint_7_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad", + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_arm_joint_7_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "Cobot_Magic_cap_the_pen_a": { + "path": "Cobot_Magic_cap_the_pen_a", + "dataset_name": "cap_the_pen_a", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "insert" + ], + "tasks": "Secure the pen cap with the right hand.", "objects": [ { "object_name": "table", @@ -49320,27 +43759,43 @@ "level5": null }, { - "object_name": "cleaner", - "level1": "daily_necessities", - "level2": "cleaner", + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pen_cap", + "level1": "office_supplies", + "level2": "pen_cap", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-169467", - "dataset_size": "8.7GB", + "operation_platform_height": 77.2, + "frame_range": "0-51317", + "dataset_size": "1.0GB", "statistics": { - "total_episodes": 457, - "total_frames": 169467, + "total_episodes": 55, + "total_frames": 51317, "total_tasks": 1, - "total_videos": 1371, + "total_videos": 165, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "fps": 50 }, - "dataset_uuid": "870e2a78-0b89-486a-bed4-12863a5b00d6", + "dataset_uuid": "b549e79c-e49e-4cec-a476-b94bdd766f22", "language": [ "en", "zh" @@ -49349,8 +43804,22 @@ "robotics" ], "sub_tasks": [ - "Turn the bottle to the front side.", - "Pick up the bottle from the table.", + "Secure the pen cap with the right hand.", + "Insert the pen into the cap", + "End", + "Put the cap on the pen", + "Pick up the pen cap", + "Grab the pen barrel with the left hand.", + "Secure the pen cap with the left hand.", + "Grab the pen cap with the left hand.", + "Place the pen on the table", + "Abnormal", + "Grab the pen cap with the right hand.", + "Insert the pen cap with the right hand.", + "Grab the pen barrel with the right hand.", + "Pick up the pen", + "Place the pen down with the right hand.", + "Insert the pen cap with the left hand.", "null" ], "annotations": { @@ -49388,12 +43857,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_pass_the_cleaner_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_pass_the_cleaner_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_cap_the_pen_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galbot_g1_steamer_storage_baozi_a": { - "path": "Galbot_g1_steamer_storage_baozi_a", - "dataset_name": "steamer_storage_baozi_a", + "Split_aloha_wipe_table": { + "path": "Split_aloha_wipe_table", + "dataset_name": "wipe_table", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -49401,10 +43870,11 @@ "scene_type": [], "atomic_actions": [ "grasp", + "place", "pick", - "place" + "wipe" ], - "tasks": "End", + "tasks": "Grasp the rag with right gripper", "objects": [ { "object_name": "table", @@ -49415,51 +43885,43 @@ "level5": null }, { - "object_name": "baozi", - "level1": "food", - "level2": "baozi", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "steamer", - "level1": "cookware", - "level2": "steamer", + "object_name": "cup", + "level1": "container", + "level2": "cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "pot_lid", - "level1": "daily_necessities", - "level2": "pot_lid", + "object_name": "rag", + "level1": "clothing", + "level2": "rag", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "stain", + "level1": "garbage", + "level2": "stain", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-250217", - "dataset_size": "4.3GB", + "operation_platform_height": 77.2, + "frame_range": "0-106804", + "dataset_size": "1.3GB", "statistics": { - "total_episodes": 266, - "total_frames": 250217, + "total_episodes": 200, + "total_frames": 106804, "total_tasks": 1, - "total_videos": 798, + "total_videos": 600, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "1e479c19-9f69-42ac-9238-114fcf1a487c", + "dataset_uuid": "18848f29-f6ff-4f8a-ab4d-acc67d812c64", "language": [ "en", "zh" @@ -49468,11 +43930,14 @@ "robotics" ], "sub_tasks": [ + "Grasp the rag with right gripper", + "Abnormal", + "Place the rag on the table with right gripper", + "Stand the paper cup upright with left gripper", "End", - "Place the baozi on the steamer with right gripper", - "Place the pot lid on the steamer with left gripper", - "Grasp the pot lid with left gripper", - "Grasp the baozi in the plate with right gripper", + "Static", + "Grasp the paper cup with left gripper", + "Wipe the stains off the table with the rag with right gripper", "null" ], "annotations": { @@ -49510,15 +43975,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Galbot_g1_steamer_storage_baozi_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Galbot_g1_steamer_storage_baozi_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_wipe_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_pullBowl_storage_bread_a": { - "path": "G1edu-u3_pullBowl_storage_bread_a", - "dataset_name": "pullBowl_storage_bread_a", + "R1_Lite_pour_water": { + "path": "R1_Lite_pour_water", + "dataset_name": "pour_water", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ @@ -49526,7 +43991,7 @@ "pick", "place" ], - "tasks": "Abnormal", + "tasks": "Pour water into the cup", "objects": [ { "object_name": "table", @@ -49537,35 +44002,43 @@ "level5": null }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "water", + "level1": "drink", + "level2": "water", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate_rack", - "level1": "furniture", - "level2": "plate_rack", + "object_name": "kettle", + "level1": "electric_appliance", + "level2": "kettle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "container", + "level2": "cup", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-126861", - "dataset_size": "2.6GB", + "operation_platform_height": null, + "frame_range": "0-53125", + "dataset_size": "2.0GB", "statistics": { - "total_episodes": 178, - "total_frames": 126861, + "total_episodes": 51, + "total_frames": 53125, "total_tasks": 1, - "total_videos": 534, + "total_videos": 153, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a52", + "dataset_uuid": "8b05bffb-745b-4de7-bbfa-113e42018671", "language": [ "en", "zh" @@ -49574,13 +44047,12 @@ "robotics" ], "sub_tasks": [ - "Abnormal", - "Place the long bread in pink bowl with left hand", - "End", - "Grasp the round bread with left hand", - "Grasp the long bread with left hand", - "Place the round bread in pink bowl with left hand", - "Move the pink bowl to the center of table with right hand", + "Pour water into the cup", + "Put the cup down on the table", + "Put down the kettle on the table", + "Pour water into another cup", + "Pick up the cup", + "Pick up the kettle", "null" ], "annotations": { @@ -49618,23 +44090,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_pour_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_move_the_position_of_the_brush": { - "path": "R1_Lite_move_the_position_of_the_brush", - "dataset_name": "move_the_position_of_the_brush", + "Galbot_g1_steamer_storage_baozi_j": { + "path": "Galbot_g1_steamer_storage_baozi_j", + "dataset_name": "steamer_storage_baozi_j", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "place", + "grasp", "pick", - "grasp" + "place" ], - "tasks": "Static", + "tasks": "Place the pot lid on the table with left gripper", "objects": [ { "object_name": "table", @@ -49645,355 +44117,51 @@ "level5": null }, { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", + "object_name": "baozi", + "level1": "food", + "level2": "baozi", "level3": null, "level4": null, "level5": null }, { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", + "object_name": "steamer", + "level1": "cookware", + "level2": "steamer", "level3": null, "level4": null, "level5": null }, { - "object_name": "bath_ball", + "object_name": "pot_lid", "level1": "daily_necessities", - "level2": "bath_ball", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { "object_name": "plate", - "level1": "container", + "level1": "kitchen_supplies", "level2": "plate", "level3": null, "level4": null, "level5": null - }, - { - "object_name": "can", - "level1": "container", - "level2": "can", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "hard_cleanser", - "level1": "daily_necessities", - "level2": "hard_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peeler", - "level1": "tool", - "level2": "peeler", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "block", - "level1": "toy", - "level2": "block", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "duck", - "level1": "toy", - "level2": "duck", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soap", - "level1": "daily_necessities", - "level2": "soap", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "basket", - "level1": "container", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cola", - "level1": "drink", - "level2": "cola", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "detergent", - "level1": "daily_necessities", - "level2": "detergent", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_beater", - "level1": "electrical_appliances", - "level2": "egg_beater", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "marker", - "level1": "office_supplies", - "level2": "marker", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rubiks_cube", - "level1": "toy", - "level2": "rubiks_cube", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread_slice", - "level1": "food", - "level2": "bread_slice", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "brush", - "level1": "daily_necessities", - "level2": "brush", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yogurt", - "level1": "drink", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "power_strip", - "level1": "electric_appliance", - "level2": "power_strip", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "milk", - "level1": "drink", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soda", - "level1": "drink", - "level2": "soda", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lime", - "level1": "fruit", - "level2": "lime", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "coffee_capsule", - "level1": "drink", - "level2": "coffee_capsule", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "dish", - "level1": "container", - "level2": "dish", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glass", - "level1": "furniture", - "level2": "glass", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "gum", - "level1": "daily_necessities", - "level2": "gum", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tape", - "level1": "daily_necessities", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soft_cleanser", - "level1": "daily_necessities", - "level2": "soft_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chips", - "level1": "food", - "level2": "chips", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", - "level3": null, - "level4": null, - "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-17774", - "dataset_size": "677.0MB", + "operation_platform_height": null, + "frame_range": "0-56015", + "dataset_size": "1.1GB", "statistics": { - "total_episodes": 63, - "total_frames": 17774, + "total_episodes": 41, + "total_frames": 56015, "total_tasks": 1, - "total_videos": 252, + "total_videos": 123, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "0626d7f7-69b7-4fb0-9edc-8ba92d1df7cf", + "dataset_uuid": "b53dc50b-2b01-4783-900a-e0a8fa876a20", "language": [ "en", "zh" @@ -50002,13 +44170,16 @@ "robotics" ], "sub_tasks": [ - "Static", - "Place the brush on the table with right gripper", - "Grasp the brush with right gripper", - "Grasp the brush with left gripper", - "Place the brush on the table with left gripper", + "Place the pot lid on the table with left gripper", + "Grasp the pot lid with left gripper", + "Place the pot lid on the steamer with left gripper", "End", - "Abnormal", + "Move the switch to the right with left gripper", + "Place the baozi on the steamer with right gripper", + "Grasp the baozi with right gripper", + "Place the baozi on the plate with right gripper", + "Move the switch to the left with right gripper", + "Grasp the baozi in the plate with right gripper", "null" ], "annotations": { @@ -50046,10 +44217,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_brush_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_brush_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Galbot_g1_steamer_storage_baozi_j_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galaxea_R1_Lite_pour_solid": { + "Agilex_Cobot_Magic_move_pencil_sharpener": { "task_categories": [ "robotics" ], @@ -50079,11 +44250,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_pour_solid", + "dataset_name": "Agilex_Cobot_Magic_move_pencil_sharpener", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "ousehhold", - "level2": "kitchen", + "level1": "education", + "level2": "school", "level3": null, "level4": null, "level5": null @@ -50091,220 +44262,109 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "white_table", - "level1": "furniture", - "level2": "white_table", + "object_name": "table", + "level1": "home_storage", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "plastic_cup", - "level1": "cups", - "level2": "plastic_cup", + "object_name": "deli_stapler", + "level1": "stationery", + "level2": "deli_stapler", "level3": null, "level4": null, "level5": null }, { - "object_name": "green_dish", - "level1": "plates", - "level2": "green_dish", + "object_name": "deli_water-based_marker", + "level1": "stationery", + "level2": "deli_water-based_marker", "level3": null, "level4": null, "level5": null }, { - "object_name": "pink_bowl", - "level1": "plastic_bowls", - "level2": "pink_bowl", + "object_name": "deli_watercolor_marker_box", + "level1": "stationery", + "level2": "deli_watercolor_marker_box", "level3": null, "level4": null, "level5": null }, { - "object_name": "solid", - "level1": "materials", - "level2": "solid", + "object_name": "purple_incenser", + "level1": "daily_necessities", + "level2": "purple_incense", "level3": null, "level4": null, "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + }, + { + "object_name": "pencil_sharpener", + "level1": "stationery", + "level2": "pencil_sharpener", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "use a gripper to pick up the cup and pour the solid into a bowl or tray." + "Place the pencil sharpener on the left side of the stapler." ], "sub_tasks": [ { - "subtask": "Grasp the glass of shrimp with the left gripper", + "subtask": "Place the pencil sharpener to the left of the stapler with the left gripper", "subtask_index": 0 }, { - "subtask": "Pick up blue cup filled with coffee beans with left gripper", + "subtask": "Grasp the pencil sharpene with the right gripper", "subtask_index": 1 }, { - "subtask": "Place blue cup with coffee beans on the table with left gripper", + "subtask": "End", "subtask_index": 2 }, { - "subtask": "Pour the shrimp into the green bowl with the left gripper", + "subtask": "Grasp the pencil sharpene with the left gripper", "subtask_index": 3 }, { - "subtask": "Pour the coffee beans into the pink bowl with the left gripper", + "subtask": "Place the pencil sharpener to the left of the stapler with the right gripper", "subtask_index": 4 }, - { - "subtask": "Pour the coffee beans into the pink bowl with the right gripper", - "subtask_index": 5 - }, - { - "subtask": "Left gripper", - "subtask_index": 6 - }, - { - "subtask": "Pour the shrimp into the green bowl with the right gripper", - "subtask_index": 7 - }, - { - "subtask": "Pick up blue cup filled with shrimp with left gripper", - "subtask_index": 8 - }, - { - "subtask": "Place blue cup with shrimp on the table with left gripper", - "subtask_index": 9 - }, - { - "subtask": "Pick up blue cup filled with coffee beans with right gripper", - "subtask_index": 10 - }, - { - "subtask": "Grasp the glass of coffee beans with the left gripper", - "subtask_index": 11 - }, - { - "subtask": "Pour the shrimp into the pink bowl with left gripper", - "subtask_index": 12 - }, - { - "subtask": "Pour the coffee beans into the green bowl with the left gripper", - "subtask_index": 13 - }, - { - "subtask": "Pour the coffee beans into the pink bowl with left gripper", - "subtask_index": 14 - }, - { - "subtask": "Grasp the glass of coffee beans with the right gripper", - "subtask_index": 15 - }, - { - "subtask": "Pour the coffee beans into the green plate with the right gripper", - "subtask_index": 16 - }, - { - "subtask": "Pour the shrimp into the pink bowl with the right gripper", - "subtask_index": 17 - }, - { - "subtask": "Grasp the glass of shrimp with the right gripper", - "subtask_index": 18 - }, - { - "subtask": "Pour the coffee beans into the green plate with the left gripper", - "subtask_index": 19 - }, - { - "subtask": "Place blue cup with coffee powder on the table with left gripper", - "subtask_index": 20 - }, - { - "subtask": "Place the glass cup with the right gripper", - "subtask_index": 21 - }, - { - "subtask": "Place blue cup with coffee beans on the table with right gripper", - "subtask_index": 22 - }, - { - "subtask": "End", - "subtask_index": 23 - }, - { - "subtask": "Pour the coffee beans into the green bowl with the right gripper", - "subtask_index": 24 - }, - { - "subtask": "Place blue cup with shrimp on the table with right gripper", - "subtask_index": 25 - }, - { - "subtask": "Pick up blue cup filled with shrimp with right gripper", - "subtask_index": 26 - }, - { - "subtask": "Pour the shrimp into the pink bowl with right gripper", - "subtask_index": 27 - }, - { - "subtask": "Pour the shrimp into the pink bowl with the left gripper", - "subtask_index": 28 - }, - { - "subtask": "Pour the shrimp into the blue basin with left gripper", - "subtask_index": 29 - }, - { - "subtask": "Pour the coffee beans into the blue basin with right gripper", - "subtask_index": 30 - }, - { - "subtask": "Right gripper", - "subtask_index": 31 - }, - { - "subtask": "Pour the shrimp into the blue basin with right gripper", - "subtask_index": 32 - }, - { - "subtask": "Place the glass cup with the left gripper", - "subtask_index": 33 - }, { "subtask": "null", - "subtask_index": 34 + "subtask_index": 5 } ], "atomic_actions": [ "grasp", - "pick", - "place", - "pour" + "lift", + "lower" ], "robot_name": [ - "Galaxea_R1_Lite" + "Agilex_Cobot_Magic" ], "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_left_rgb", - "cam_head_right_rgb", + "cam_head_rgb", "cam_left_wrist_rgb", "cam_right_wrist_rgb" ], "came_info": { - "cam_head_left_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_head_right_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p" + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -50315,53 +44375,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 39, - "total_frames": 16353, + "total_episodes": 98, + "total_frames": 41602, "fps": 30, - "total_tasks": 35, - "total_videos": 156, + "total_tasks": 6, + "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, - "camera_views": 4, - "dataset_size": "459.77 MB" + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "374.66 MB" }, - "frame_num": 16353, - "dataset_size": "459.77 MB", - "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_pour_solid_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (27 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 41602, + "dataset_size": "374.66 MB", + "data_structure": "Agilex_Cobot_Magic_move_pencil_sharpener_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (86 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:38" + "train": "0:97" }, "features": { - "observation.images.cam_head_left_rgb": { - "dtype": "video", - "shape": [ - 720, - 1280, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 720, - "video.width": 1280, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_head_right_rgb": { + "observation.images.cam_head_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -50370,8 +44407,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -50383,7 +44420,7 @@ "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 360, + 480, 640, 3 ], @@ -50393,7 +44430,7 @@ "channels" ], "info": { - "video.height": 360, + "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -50406,7 +44443,7 @@ "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 360, + 480, 640, 3 ], @@ -50416,7 +44453,7 @@ "channels" ], "info": { - "video.height": 360, + "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -50429,7 +44466,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 14 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -50438,20 +44475,32 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ - 14 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -50460,14 +44509,26 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "timestamp": { @@ -50507,17 +44568,17 @@ }, "subtask_annotation": { "names": null, + "dtype": "int32", "shape": [ 5 - ], - "dtype": "int32" + ] }, "scene_annotation": { "names": null, + "dtype": "int32", "shape": [ 1 - ], - "dtype": "int32" + ] }, "eef_sim_pose_state": { "names": [ @@ -50534,10 +44595,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_sim_pose_action": { "names": [ @@ -50554,130 +44615,130 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "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" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_mode_action": { "names": [ "left_gripper_mode", "right_gripper_mode" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_activity_state": { "names": [ "left_gripper_activity", "right_gripper_activity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_activity_action": { "names": [ "left_gripper_activity", "right_gripper_activity" ], + "dtype": "int32", "shape": [ 2 + ] + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" ], - "dtype": "int32" + "dtype": "float32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] } }, "authors": { @@ -50699,69 +44760,61 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "R1_Lite_boil_water_in_a_kettle": { - "path": "R1_Lite_boil_water_in_a_kettle", - "dataset_name": "boil_water_in_a_kettle", + "AgiBot-g1_picks_up_battery_b": { + "path": "AgiBot-g1_picks_up_battery_b", + "dataset_name": "picks_up_battery_b", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "grasp", + "place", "pick", - "place" + "grasp" ], - "tasks": "Start boiling water", + "tasks": "Place the power supply on the operating table.", "objects": [ { - "object_name": "stove_top", + "object_name": "table", "level1": "furniture", - "level2": "stove_top", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "boil_the_kettle", - "level1": "electric_appliance", - "level2": "boil_the_kettle", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "heating_plate", - "level1": "electric_appliance", - "level2": "heating_plate", + "object_name": "carton", + "level1": "tool", + "level2": "carton", "level3": null, "level4": null, "level5": null }, { - "object_name": "sink", - "level1": "container", - "level2": "sink", + "object_name": "battery", + "level1": "tool", + "level2": "battery", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-85792", - "dataset_size": "3.9GB", + "frame_range": "0-131840", + "dataset_size": "71.4GB", "statistics": { - "total_episodes": 75, - "total_frames": 85792, + "total_episodes": 329, + "total_frames": 131840, "total_tasks": 1, - "total_videos": 225, + "total_videos": 2632, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "68764373-ee5e-45aa-ad8a-1ca6cf3e0834", + "dataset_uuid": "69e28097-0f6e-4238-8562-b87280af0714", "language": [ "en", "zh" @@ -50770,13 +44823,8 @@ "robotics" ], "sub_tasks": [ - "Start boiling water", - "Place it on the power base", - "Finish boiling water", - "abnormal", - "Place it by the sink", - "Pick up the kettle", - "Grab the kettle", + "Place the power supply on the operating table.", + "Grab and lift the power supply from the large box.", "null" ], "annotations": { @@ -50814,20 +44862,21 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_boil_water_in_a_kettle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_boil_water_in_a_kettle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_picks_up_battery_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_place_apple_c": { - "path": "G1edu-u3_place_apple_c", - "dataset_name": "place_apple_c", + "AIRBOT_MMK2_close_the_computer": { + "path": "AIRBOT_MMK2_close_the_computer", + "dataset_name": "close_the_computer", "robot_type": "", "end_effector_type": [ - "three_finger_hand" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ - "pick", - "place" + "grasp", + "place", + "pick" ], "tasks": "End", "objects": [ @@ -50840,27 +44889,27 @@ "level5": null }, { - "object_name": "apple", - "level1": "fruit", - "level2": "apple", + "object_name": "computer", + "level1": "office_supplies", + "level2": "computer", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-6567", - "dataset_size": "81.6MB", + "operation_platform_height": 77.2, + "frame_range": "0-7754", + "dataset_size": "320.9MB", "statistics": { - "total_episodes": 29, - "total_frames": 6567, + "total_episodes": 49, + "total_frames": 7754, "total_tasks": 1, - "total_videos": 29, + "total_videos": 196, "total_chunks": 1, - "chunks_size": 30, + "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "fadd4ee3-65b3-497e-a817-3885814cab0c", + "dataset_uuid": "5e9fe536-85e9-4e68-b390-51ba7aec5e6b", "language": [ "en", "zh" @@ -50870,8 +44919,11 @@ ], "sub_tasks": [ "End", - "Place the apple on the table with right gripper", - "Place the apple on the table with left gripper", + "Press the laptop with the left gripper", + "Release the laptop with the left gripper", + "Static", + "Abnormal", + "Close the laptop with the right gripper", "null" ], "annotations": { @@ -50909,559 +44961,670 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_place_apple_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_place_apple_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_close_the_computer_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_close_the_computer_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_food_storage": { - "path": "G1edu-u3_food_storage", - "dataset_name": "food_storage", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" + "Galaxea_R1_Lite_storage_object_yellow_basket": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" ], - "tasks": "Grasp the bowl with the left gripper", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Galaxea_R1_Lite_storage_object_yellow_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", + "object_name": "yellow_basket", + "level1": "basket", + "level2": "yellow_basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "home_storage", - "level2": "basket", + "object_name": "banana", + "level1": "fruits", + "level2": "banana", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "bathing_in_flowers", + "level1": "daily_chemical_products", + "level2": "bathing_in_flowers", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "bowl", - "level2": "bowl", + "object_name": "blue_cup", + "level1": "cups", + "level2": "blue_cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "donut", - "level1": "food", - "level2": "donut", + "object_name": "blue_pot", + "level1": "cookware", + "level2": "blue_pot", "level3": null, "level4": null, "level5": null }, { - "object_name": "cake", + "object_name": "toast_slices", "level1": "bread", - "level2": "cake", + "level2": "toast_slices", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-316377", - "dataset_size": "13.6GB", - "statistics": { - "total_episodes": 190, - "total_frames": 316377, - "total_tasks": 1, - "total_videos": 570, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "4f2a72fa-3388-401a-ab17-b437417cce23", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the bowl with the left gripper", - "Pour the cake into the basket with the left gripper", - "End", - "Place the bowl in the center of the table with the left gripper", - "Pick up the bread with the right gripper and place it on the plate", - "Place the bowl on the table with the left gripper", - "Push the bowl to the center of the table using the left gripper", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_cube_reset": { - "path": "Cobot_Magic_cube_reset", - "dataset_name": "cube_reset", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "brown_towel", + "level1": "towels", + "level2": "brown_towel", "level3": null, "level4": null, "level5": null }, { - "object_name": "cube_block", - "level1": "toy", - "level2": "cube_block", + "object_name": "can", + "level1": "snacks", + "level2": "can", "level3": null, "level4": null, "level5": null }, { - "object_name": "cube_groove", - "level1": "container", - "level2": "cube_groove", + "object_name": "coke(slim_can)", + "level1": "beverages", + "level2": "coke(slim_can)", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-28883", - "dataset_size": "514.5MB", - "statistics": { - "total_episodes": 98, - "total_frames": 28883, - "total_tasks": 1, - "total_videos": 294, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "5f4b3baf-119d-489b-b64d-59ea1b989422", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Pick up the cube", - "Grasp the cube", - "Place cube into the cube recess", - "Place cube into the cube-shaped recess", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_cube_reset_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_cube_reset_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Split_aloha_fold_the_pants": { - "path": "Split_aloha_fold_the_pants", - "dataset_name": "fold_the_pants", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "fold" - ], - "tasks": "Fold the bottom of the pants upward", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "potato_chips", + "level1": "snacks", + "level2": "potato_chips", "level3": null, "level4": null, "level5": null }, { - "object_name": "pants", - "level1": "clothing", - "level2": "pants", + "object_name": "chocolate", + "level1": "snacks", + "level2": "chocolate", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-402577", - "dataset_size": "8.5GB", - "statistics": { - "total_episodes": 486, - "total_frames": 402577, - "total_tasks": 4, - "total_videos": 1458, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "2d20404b-b035-4962-9e8e-055858867cb3", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Fold the bottom of the pants upward", - "Fold the pants from left to right", - "Fold your pants from right to left", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Split_aloha_fold_the_pants_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_fold_the_pants_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_place_metal_bowl_ae": { - "path": "G1edu-u3_place_metal_bowl_ae", - "dataset_name": "place_metal_bowl_ae", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "pick", - "place" - ], - "tasks": "Place the metal bowl on the table with left gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "compass", + "level1": "stationery", + "level2": "compass", "level3": null, "level4": null, "level5": null }, { - "object_name": "metal_bowl", - "level1": "bowl", - "level2": "metal_bowl", + "object_name": "building_blocks", + "level1": "toys", + "level2": "building_blocks", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-7884", - "dataset_size": "120.4MB", - "statistics": { - "total_episodes": 38, - "total_frames": 7884, - "total_tasks": 1, - "total_videos": 38, - "total_chunks": 1, - "chunks_size": 39, - "fps": 30 - }, - "dataset_uuid": "58ed5982-2a5f-4762-a995-5d590a2beeb4", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the metal bowl on the table with left gripper", - "End", - "Place the metal bowl on the table with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_place_metal_bowl_ae_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_place_metal_bowl_ae_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_storage_tape_measure_umbrella": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "license": "apache-2.0", - "configs": [ + }, { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } - ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + "object_name": "egg_beater", + "level1": "kitchen_supplies", + "level2": "egg_beater", + "level3": null, + "level4": null, + "level5": null }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_tape_measure_umbrella", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "household", - "level2": "living_room", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", - "objects": [ { - "object_name": "basin", - "level1": "storage_utensils", - "level2": "basin", + "object_name": "eraser", + "level1": "stationery", + "level2": "eraser", "level3": null, "level4": null, "level5": null }, { - "object_name": "tape_measure", - "level1": "rulers", - "level2": "tape_measure", + "object_name": "chewing_gum", + "level1": "snacks", + "level2": "chewing_gum", "level3": null, "level4": null, "level5": null }, { - "object_name": "umbrella", - "level1": "items", - "level2": "umbrella", + "object_name": "mentholatum_facial_cleanser", + "level1": "daily_chemical_products", + "level2": "mentholatum_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": [ - "put the tape measure and the umbrella in the basin." - ], - "sub_tasks": [ + }, { - "subtask": "End", - "subtask_index": 0 + "object_name": "green_lemon", + "level1": "fruits", + "level2": "green_lemon", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the tape measure with the right gripper", - "subtask_index": 1 + "object_name": "peach", + "level1": "fruits", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the umbrella with the left gripper", - "subtask_index": 2 + "object_name": "power_strip", + "level1": "electrical_control_equipment", + "level2": "power_strip", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Static", - "subtask_index": 3 + "object_name": "round_bread", + "level1": "bread", + "level2": "round_bread", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the umbrella in the white basket with the left gripper", - "subtask_index": 4 + "object_name": "mentholatum_facial_cleanser", + "level1": "daily_necessities", + "level2": "mentholatum_facial_cleanser", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the tape measure in the white basket with the right gripper", - "subtask_index": 5 + "object_name": "square_building_blocks", + "level1": "building_blocks", + "level2": "square_building_blocks", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 6 - } - ], - "atomic_actions": [ + "object_name": "tape", + "level1": "stationery", + "level2": "tape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cake", + "level1": "food", + "level2": "cake", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "duck", + "level1": "toys", + "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 yellow basket." + ], + "sub_tasks": [ + { + "subtask": "Grasp the blue pot with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the plugboard with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Place the round wooden block on the yellow basket with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "Grasp the potato chips with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Place the tin on the yellow basket with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Place the plugboard on the yellow basket with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "Place the peach on the yellow basket with the left gripper", + "subtask_index": 6 + }, + { + "subtask": "Place the blue cup on the yellow basket with the right gripper", + "subtask_index": 7 + }, + { + "subtask": "Place the brown towel on the yellow basket with the right gripper", + "subtask_index": 8 + }, + { + "subtask": "Grasp the compasses with the right gripper", + "subtask_index": 9 + }, + { + "subtask": "Place the green lemon on the yellow basket with the right gripper", + "subtask_index": 10 + }, + { + "subtask": "Place the duck toy on the yellow basket with the right gripper", + "subtask_index": 11 + }, + { + "subtask": "Grasp the duck toy with the left gripper", + "subtask_index": 12 + }, + { + "subtask": "Place the blackboard erasure on the yellow basket with the left gripper", + "subtask_index": 13 + }, + { + "subtask": "Grasp the blue cup with the left gripper", + "subtask_index": 14 + }, + { + "subtask": "Place the bread slice on the yellow basket with the left gripper", + "subtask_index": 15 + }, + { + "subtask": "Place the hard facial cleanser on the yellow basket with the right gripper", + "subtask_index": 16 + }, + { + "subtask": "Place the peach on the yellow basket with the right gripper", + "subtask_index": 17 + }, + { + "subtask": "Grasp the back scratcher with the right gripper", + "subtask_index": 18 + }, + { + "subtask": "Place the tape on the yellow basket with the right gripper", + "subtask_index": 19 + }, + { + "subtask": "Place the blue pot on the yellow basket with the right gripper", + "subtask_index": 20 + }, + { + "subtask": "Grasp the chocolate cake with the right gripper", + "subtask_index": 21 + }, + { + "subtask": "Place the tape on the yellow basket with the left gripper", + "subtask_index": 22 + }, + { + "subtask": "Place the shower sphere on the yellow basket with the left gripper", + "subtask_index": 23 + }, + { + "subtask": "Place the yogurt on the yellow basket with the left gripper", + "subtask_index": 24 + }, + { + "subtask": "Grasp the shower sphere with the left gripper", + "subtask_index": 25 + }, + { + "subtask": "Grasp the plugboard with the right gripper", + "subtask_index": 26 + }, + { + "subtask": "Grasp the tin with the left gripper", + "subtask_index": 27 + }, + { + "subtask": "Grasp the brown towel with the left gripper", + "subtask_index": 28 + }, + { + "subtask": "Place the compasses on the yellow basket with the right gripper", + "subtask_index": 29 + }, + { + "subtask": "Place the hard facial cleanser on the yellow basket with the left gripper", + "subtask_index": 30 + }, + { + "subtask": "Grasp the hard facial cleanser with the left gripper", + "subtask_index": 31 + }, + { + "subtask": "Place the potato chips on the yellow basket with the left gripper", + "subtask_index": 32 + }, + { + "subtask": "Grasp the chocolate with the right gripper", + "subtask_index": 33 + }, + { + "subtask": "Place the banana on the yellow basket with the right gripper", + "subtask_index": 34 + }, + { + "subtask": "Grasp the peach with the right gripper", + "subtask_index": 35 + }, + { + "subtask": "Grasp the brown towel with the right gripper", + "subtask_index": 36 + }, + { + "subtask": "Place the chocolate cake on the yellow basket with the left gripper", + "subtask_index": 37 + }, + { + "subtask": "Place the shower sphere on the yellow basket with the right gripper", + "subtask_index": 38 + }, + { + "subtask": "Grasp the hard facial cleanser with the right gripper", + "subtask_index": 39 + }, + { + "subtask": "Place the back scratcher on the yellow basket with the right gripper", + "subtask_index": 40 + }, + { + "subtask": "Grasp the peach with the left gripper", + "subtask_index": 41 + }, + { + "subtask": "Place the blue cup on the yellow basket with the left gripper", + "subtask_index": 42 + }, + { + "subtask": "Grasp the green lemon with the right gripper", + "subtask_index": 43 + }, + { + "subtask": "Place the soft facial cleanser on the yellow basket with the right 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": "Grasp the blackboard erasure with the left gripper", + "subtask_index": 49 + }, + { + "subtask": "Grasp the coke with the left gripper", + "subtask_index": 50 + }, + { + "subtask": "Place the blackboard erasure on the yellow basket with the right gripper", + "subtask_index": 51 + }, + { + "subtask": "Grasp the round wooden block with the left gripper", + "subtask_index": 52 + }, + { + "subtask": "Place the tin on the yellow basket with the left gripper", + "subtask_index": 53 + }, + { + "subtask": "Place the bread slice on the yellow basket with the right gripper", + "subtask_index": 54 + }, + { + "subtask": "Place the compasses on the yellow basket with the left gripper", + "subtask_index": 55 + }, + { + "subtask": "Place the square wooden block on the yellow basket with the left gripper", + "subtask_index": 56 + }, + { + "subtask": "Place the chocolate cake on the yellow basket with the right gripper", + "subtask_index": 57 + }, + { + "subtask": "Grasp the compasses with the left gripper", + "subtask_index": 58 + }, + { + "subtask": "Place the peach doll on the yellow basket with the left gripper", + "subtask_index": 59 + }, + { + "subtask": "Grasp the blue pot with the right gripper", + "subtask_index": 60 + }, + { + "subtask": "Grasp the round bread with the right gripper", + "subtask_index": 61 + }, + { + "subtask": "Grasp the chocolate cake with the left gripper", + "subtask_index": 62 + }, + { + "subtask": "Place the coke on the yellow basket with the left gripper", + "subtask_index": 63 + }, + { + "subtask": "Place the duck toy on the yellow basket with the left gripper", + "subtask_index": 64 + }, + { + "subtask": "Grasp the tin with the right gripper", + "subtask_index": 65 + }, + { + "subtask": "Place the round wooden block on the yellow basket with the right gripper", + "subtask_index": 66 + }, + { + "subtask": "Place the square wooden block on the yellow basket with the right gripper", + "subtask_index": 67 + }, + { + "subtask": "Grasp the tape with the right gripper", + "subtask_index": 68 + }, + { + "subtask": "Grasp the coke with the right gripper", + "subtask_index": 69 + }, + { + "subtask": "Place the round bread on the yellow basket with the right gripper", + "subtask_index": 70 + }, + { + "subtask": "Grasp the tape with the left gripper", + "subtask_index": 71 + }, + { + "subtask": "Grasp the square chewing gum with the right gripper", + "subtask_index": 72 + }, + { + "subtask": "Grasp the peach doll with the left gripper", + "subtask_index": 73 + }, + { + "subtask": "Grasp the shower sphere with the right gripper", + "subtask_index": 74 + }, + { + "subtask": "Place the brown towel on the yellow basket with the left gripper", + "subtask_index": 75 + }, + { + "subtask": "Grasp the bread slice with the left gripper", + "subtask_index": 76 + }, + { + "subtask": "Grasp the yogurt with the left gripper", + "subtask_index": 77 + }, + { + "subtask": "Grasp the blackboard erasure with the right gripper", + "subtask_index": 78 + }, + { + "subtask": "Place the coke on the yellow basket with the right gripper", + "subtask_index": 79 + }, + { + "subtask": "Place the chocolate on the yellow basket with the right gripper", + "subtask_index": 80 + }, + { + "subtask": "Place the potato chips on the yellow basket with the right gripper", + "subtask_index": 81 + }, + { + "subtask": "Place the plugboard on the yellow basket with the right gripper", + "subtask_index": 82 + }, + { + "subtask": "Place the blue pot on the yellow basket with the left gripper", + "subtask_index": 83 + }, + { + "subtask": "Place the round bread on the yellow basket with the left gripper", + "subtask_index": 84 + }, + { + "subtask": "Grasp the round bread with the left gripper", + "subtask_index": 85 + }, + { + "subtask": "Grasp the square wooden block with the left gripper", + "subtask_index": 86 + }, + { + "subtask": "Grasp the blue cup with the right gripper", + "subtask_index": 87 + }, + { + "subtask": "Grasp the soft facial cleanser with the right gripper", + "subtask_index": 88 + }, + { + "subtask": "Grasp the square wooden block with the right gripper", + "subtask_index": 89 + }, + { + "subtask": "Grasp the round wooden block with the right gripper", + "subtask_index": 90 + }, + { + "subtask": "Place the square chewing gum on the yellow basket with the right gripper", + "subtask_index": 91 + }, + { + "subtask": "Grasp the banana with the right gripper", + "subtask_index": 92 + }, + { + "subtask": "null", + "subtask_index": 93 + } + ], + "atomic_actions": [ "grasp", "pick", "place" ], "robot_name": [ - "Airbot_MMK2" + "Galaxea_R1_Lite" ], - "end_effector_type": "five_finger_gripper", + "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_rgb", + "cam_head_left_rgb", + "cam_head_right_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "cam_right_wrist_rgb" ], "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_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", @@ -51478,30 +45641,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 40, - "total_frames": 7112, + "total_episodes": 102, + "total_frames": 18153, "fps": 30, - "total_tasks": 7, - "total_videos": 160, + "total_tasks": 94, + "total_videos": 408, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, + "state_dim": 14, + "action_dim": 14, "camera_views": 4, - "dataset_size": "236.10 MB" + "dataset_size": "742.42 MB" }, - "frame_num": 7112, - "dataset_size": "236.10 MB", - "data_structure": "Airbot_MMK2_storage_tape_measure_umbrella_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (28 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 18153, + "dataset_size": "742.42 MB", + "data_structure": "Galaxea_R1_Lite_storage_object_yellow_basket_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (90 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:39" + "train": "0:101" }, "features": { - "observation.images.cam_head_rgb": { + "observation.images.cam_head_left_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -51510,8 +45673,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -51520,11 +45683,11 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_head_right_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -51533,8 +45696,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -51543,11 +45706,11 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -51556,8 +45719,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -51566,11 +45729,11 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -51579,8 +45742,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -51592,7 +45755,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -51607,36 +45770,14 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -51651,30 +45792,8 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "timestamp": { @@ -51825,6 +45944,66 @@ 2 ], "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" } }, "authors": { @@ -51846,11 +46025,11 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "AgiBot-g1_robotic_arm_picks_up_parts": { - "path": "AgiBot-g1_robotic_arm_picks_up_parts", - "dataset_name": "robotic_arm_picks_up_parts", + "RMC-AIDA-L_organise_the_document_bag": { + "path": "RMC-AIDA-L_organise_the_document_bag", + "dataset_name": "organise_the_document_bag", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -51858,10 +46037,11 @@ "scene_type": [], "atomic_actions": [ "grasp", + "place", "pick", - "place" + "pull" ], - "tasks": "Place the hard drive bracket into the box.", + "tasks": "Pulling up the zipper on the transparent plastic bag with the right gripper to close it", "objects": [ { "object_name": "table", @@ -51872,35 +46052,27 @@ "level5": null }, { - "object_name": "black_container", + "object_name": "document_bag", "level1": "container", - "level2": "black_container", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", + "level2": "document_bag", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-30190", - "dataset_size": "15.0GB", + "operation_platform_height": 77.2, + "frame_range": "0-225360", + "dataset_size": "2.0GB", "statistics": { - "total_episodes": 53, - "total_frames": 30190, - "total_tasks": 1, - "total_videos": 424, + "total_episodes": 480, + "total_frames": 225360, + "total_tasks": 4, + "total_videos": 1440, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "9d81f45b-a37d-46ad-b5cd-899737518fb6", + "dataset_uuid": "327e0fe7-1be9-4724-b1ae-f511d8ab7f6b", "language": [ "en", "zh" @@ -51909,8 +46081,13 @@ "robotics" ], "sub_tasks": [ - "Place the hard drive bracket into the box.", - "Pick up the hard drive bracket from the feeding area.", + "Pulling up the zipper on the transparent plastic bag with the right gripper to close it", + "Pulling up the zipper on the transparent plastic bag with the left gripper to close it", + "Pick up the transparent plastic bag with the left gripper", + "Pick up the transparent plastic bag with the right gripper", + "Place the transparent plastic bag", + "Place the transparent plastic bag with the right gripper", + "End", "null" ], "annotations": { @@ -51948,49 +46125,119 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_organise_the_document_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_organise_the_document_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_move_medicine_bottle": { + "Cobot_Magic_put_in_the_pear": { + "path": "Cobot_Magic_put_in_the_pear", + "dataset_name": "put_in_the_pear", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the high-fiber fruit", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pear", + "level1": "fruit", + "level2": "pear", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-21690", + "dataset_size": "461.5MB", + "statistics": { + "total_episodes": 97, + "total_frames": 21690, + "total_tasks": 1, + "total_videos": 291, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "9ef9a074-b4b1-4d16-a577-460381b81a91", + "language": [ + "en", + "zh" + ], "task_categories": [ "robotics" ], - "language": [ - "en" + "sub_tasks": [ + "Grasp the high-fiber fruit", + "abnormal", + "Place it on the right side of the table", + "null" ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_put_in_the_pear_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_put_in_the_pear_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Galbot_g1_steamer_storage_baozi_e": { + "path": "Galbot_g1_steamer_storage_baozi_e", + "dataset_name": "steamer_storage_baozi_e", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_move_medicine_bottle", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "medical_healthcare", - "level2": "pharmacy", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the pot lid with left gripper", "objects": [ { "object_name": "table", @@ -52001,473 +46248,226 @@ "level5": null }, { - "object_name": "medicine_bottle", - "level1": "container", - "level2": "medicine_bottle", + "object_name": "baozi", + "level1": "food", + "level2": "baozi", "level3": null, "level4": null, "level5": null }, { - "object_name": "board", - "level1": "material", - "level2": "board", + "object_name": "steamer", + "level1": "cookware", + "level2": "steamer", "level3": null, "level4": null, "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "place the medicine bottles on the table onto the board with both hands." - ], - "sub_tasks": [ - { - "subtask": "Place the white bottle on the white board with the right gripper", - "subtask_index": 0 - }, - { - "subtask": "Abnormal", - "subtask_index": 1 - }, - { - "subtask": "Grasp the white bottle with the left gripper", - "subtask_index": 2 - }, - { - "subtask": "Static", - "subtask_index": 3 - }, - { - "subtask": "End", - "subtask_index": 4 - }, - { - "subtask": "Grasp the white bottle the right gripper", - "subtask_index": 5 }, { - "subtask": "Place the white bottle on the white board with the left gripper", - "subtask_index": 6 + "object_name": "pot_lid", + "level1": "daily_necessities", + "level2": "pot_lid", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 7 + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null } ], - "atomic_actions": [ - "grasp", - "pick", - "place" + "operation_platform_height": null, + "frame_range": "0-627792", + "dataset_size": "11.2GB", + "statistics": { + "total_episodes": 607, + "total_frames": 627792, + "total_tasks": 1, + "total_videos": 1821, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "c1e9fbc2-7775-4cc2-9a8c-d4c58aca210a", + "language": [ + "en", + "zh" ], - "robot_name": [ - "Airbot_MMK2" + "task_categories": [ + "robotics" ], - "end_effector_type": "five_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "sub_tasks": [ + "Grasp the pot lid with left gripper", + "Abnormal", + "Place the pot lid on the steamer with left gripper", + "End", + "Place the baozi on the steamer with right gripper", + "Grasp the baozi in the plate with right gripper", + "null" ], - "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", - "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" + "data_schema": "Galbot_g1_steamer_storage_baozi_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Galbot_g1_steamer_storage_baozi_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "RMC-AIDA-L_pull_open_bag": { + "path": "RMC-AIDA-L_pull_open_bag", + "dataset_name": "pull_open_bag", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pull", + "zip", + "up" ], + "tasks": "Grab the zipper with your left hand.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "food_bag", + "level1": "container", + "level2": "food_bag", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "zipper", + "level1": "fastener", + "level2": "zipper", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-684327", + "dataset_size": "8.3GB", "statistics": { - "total_episodes": 50, - "total_frames": 16815, - "fps": 30, - "total_tasks": 8, - "total_videos": 200, - "total_chunks": 1, + "total_episodes": 1396, + "total_frames": 684327, + "total_tasks": 5, + "total_videos": 4188, + "total_chunks": 2, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "493.20 MB" - }, - "frame_num": 16815, - "dataset_size": "493.20 MB", - "data_structure": "Airbot_MMK2_move_medicine_bottle_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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" + "fps": 30 }, - "features": { - "observation.images.cam_head_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_left_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.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" - } + "dataset_uuid": "4363efec-236f-4495-a86b-14c3a5d20345", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grab the zipper with your left hand.", + "Abnormal", + "Place the bag on the table with left gripper", + "Pull open the zipper with your right hand.", + "Grab the bag with your left hand.", + "Static", + "Unzip the zipper of bag with right gripper", + "End", + "Pick up the bag with left gripper", + "Pick up the bag with right gripper", + "Deliver the bag from right gripper to left gripper", + "Pull up the zipper with your right hand.", + "Discard.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } ] }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_pull_open_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_pull_open_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" }, - "AIRBOT_MMK2_organize_books": { - "path": "AIRBOT_MMK2_organize_books", - "dataset_name": "organize_books", + "Airbot_MMK2_storage_peach_pear": { + "path": "Airbot_MMK2_storage_peach_pear", + "dataset_name": "Airbot_MMK2_storage_peach_pear", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "five_finger_gripper" ], "scene_type": [], "atomic_actions": [ @@ -52475,46 +46475,46 @@ "pick", "place" ], - "tasks": "Static", + "tasks": "Grasp a peach with the left gripper", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "peach", + "level1": "fruits", + "level2": "peach", "level3": null, "level4": null, "level5": null }, { - "object_name": "book", - "level1": "office_supplies", - "level2": "book", + "object_name": "pear", + "level1": "fruits", + "level2": "pear", "level3": null, "level4": null, "level5": null }, { - "object_name": "bookshelf", - "level1": "container", - "level2": "bookshelf", + "object_name": "storage_box", + "level1": "storage_utensils", + "level2": "storage_box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-9576", - "dataset_size": "439.6MB", + "frame_range": "0-2804", + "dataset_size": "114.2MB", "statistics": { - "total_episodes": 50, - "total_frames": 9576, + "total_episodes": 12, + "total_frames": 2804, "total_tasks": 1, - "total_videos": 200, + "total_videos": 48, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "b36aed44-2805-4713-8d48-a14bebf79671", + "dataset_uuid": "c48b833c-02bd-4fd5-a2c2-5b03bf2c2936", "language": [ "en", "zh" @@ -52523,9 +46523,11 @@ "robotics" ], "sub_tasks": [ - "Static", - "Grasp the yellow book with the right gripper", - "Place the yellow book into the front mezzanine of the bookshelf with the right gripper", + "Grasp a peach with the left gripper", + "Grasp a pear with the right gripper", + "Abnormal", + "Place the peach into the left compartment of the storage box with the left gripper", + "Place the pear into the right compartment of the storage box with the right gripper", "End", "null" ], @@ -52564,24 +46566,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_organize_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_organize_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Airbot_MMK2_storage_peach_pear_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Airbot_MMK2_storage_peach_pear_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_fold_towel": { - "path": "RMC-AIDA-L_fold_towel", - "dataset_name": "fold_towel", + "G1edu-u3_plate_storage_doll": { + "path": "G1edu-u3_plate_storage_doll", + "dataset_name": "plate_storage_doll", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "place", "pick", - "unfold" + "place" ], - "tasks": "End", + "tasks": "Static", "objects": [ { "object_name": "table", @@ -52592,27 +46593,35 @@ "level5": null }, { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "doll", + "level1": "toys", + "level2": "doll", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-139069", - "dataset_size": "1.5GB", + "frame_range": "0-133026", + "dataset_size": "3.7GB", "statistics": { - "total_episodes": 314, - "total_frames": 139069, + "total_episodes": 388, + "total_frames": 133026, "total_tasks": 2, - "total_videos": 942, + "total_videos": 1164, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "189eaf6e-2609-4e71-8e6e-e6393a5d259e", + "dataset_uuid": "45f1baec-34a9-4f8d-bc50-3ef2086cf1a9", "language": [ "en", "zh" @@ -52621,13 +46630,12 @@ "robotics" ], "sub_tasks": [ + "Static", + "Place the pink doll into the plate with the left gripper", + "Grasp the pink doll with the right gripper", "End", - "Press and secure one corner of the towel with the right arm", - "Unfold the towel with the left arm", - "Press and secure one corner of the towel with the left arm", - "Press and secure one corner of the towel with the right gripper", - "Unfold the towel with the left gripper", - "Unfold the towel with the right arm", + "Place the pink doll into the plate with the right gripper", + "Grasp the pink doll with the left gripper", "null" ], "annotations": { @@ -52665,12 +46673,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_fold_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_fold_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_plate_storage_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_plate_storage_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_box_storage_chopsticks": { - "path": "Cobot_Magic_box_storage_chopsticks", - "dataset_name": "box_storage_chopsticks", + "R1_Lite_take_and_put_the_bowl": { + "path": "R1_Lite_take_and_put_the_bowl", + "dataset_name": "take_and_put_the_bowl", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -52678,65 +46686,65 @@ "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "use the right arm to put the chopsticks into the lunch box", + "tasks": "Place it on the table", "objects": [ { - "object_name": "table", + "object_name": "cabinet", "level1": "furniture", - "level2": "table", + "level2": "cabinet", "level3": null, "level4": null, "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "bowl", + "level1": "container", + "level2": "bowl", "level3": null, "level4": null, "level5": null }, { - "object_name": "pallet", - "level1": "container", - "level2": "pallet", - "level3": null, + "object_name": "cabinet_door", + "level1": "furniture", + "level2": "cabinet_door", + "level3": null, "level4": null, "level5": null }, { - "object_name": "chopsticks", - "level1": "tableware", - "level2": "chopsticks", + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "container", - "level2": "box", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-170337", - "dataset_size": "6.4GB", + "frame_range": "0-189200", + "dataset_size": "7.0GB", "statistics": { - "total_episodes": 499, - "total_frames": 170337, - "total_tasks": 6, - "total_videos": 1497, + "total_episodes": 94, + "total_frames": 189200, + "total_tasks": 1, + "total_videos": 282, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "820026e7-2878-4127-b935-c5e584a825bc", + "dataset_uuid": "29eb76ea-0c49-4f11-8073-7f7501b77736", "language": [ "en", "zh" @@ -52745,14 +46753,13 @@ "robotics" ], "sub_tasks": [ - "use the right arm to put the chopsticks into the lunch box", - "Abnormal", - "use the left arm to grab a pair of chopsticks", - "End", - "Grasp the a pair of chopsticks with the left gripper", - "Place the a pair of chopsticks in the box with the left gripper", - "use the left arm to put the chopsticks into the lunch box", - "use the right arm to grab a pair of chopsticks", + "Place it on the table", + "Put it back into the cabinet", + "Take the plate from the cabinet", + "Pick up the plate from the table", + "Close the cabinet door", + "Pick up the bowl from the table", + "Take the bowl from the cabinet", "null" ], "annotations": { @@ -52790,23 +46797,24 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_box_storage_chopsticks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_box_storage_chopsticks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_take_and_put_the_bowl_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_take_and_put_the_bowl_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_peach_storage": { - "path": "R1_Lite_peach_storage", - "dataset_name": "peach_storage", + "AIRBOT_MMK2_chop_the_scallions": { + "path": "AIRBOT_MMK2_chop_the_scallions", + "dataset_name": "chop_the_scallions", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", + "pick", "place", - "pick" + "cut" ], - "tasks": "End", + "tasks": "Grasp the kitchen knife with the right gripper", "objects": [ { "object_name": "table", @@ -52817,35 +46825,239 @@ "level5": null }, { - "object_name": "basket", + "object_name": "knife", + "level1": "food", + "level2": "green_onion", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-14308", + "dataset_size": "573.9MB", + "statistics": { + "total_episodes": 50, + "total_frames": 14308, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "5beeb056-0ab1-4611-8791-0f80b7dc82d2", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the kitchen knife with the right gripper", + "Press the scallion with the left gripper", + "Place the kitchen knife back on the knife holder with the right gripper", + "Static", + "End", + "Abnormal", + "Cut scallions with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_chop_the_scallions_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_chop_the_scallions_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_box_storage_parcel_f": { + "path": "leju_robot_box_storage_parcel_f", + "dataset_name": "box_storage_parcel_f", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the package into the parcel locker.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parcel", "level1": "container", - "level2": "basket", + "level2": "parcel", "level3": null, "level4": null, "level5": null }, { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", + "object_name": "conveyor_belt", + "level1": "industrial_equipment", + "level2": "conveyor_belt", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-31755", - "dataset_size": "1.5GB", + "operation_platform_height": null, + "frame_range": "0-185943", + "dataset_size": "9.5GB", "statistics": { - "total_episodes": 110, - "total_frames": 31755, + "total_episodes": 497, + "total_frames": 185943, "total_tasks": 1, - "total_videos": 440, + "total_videos": 1491, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "e596c797-57d3-4fbb-ba99-5dec78a4c0b2", + "dataset_uuid": "52fd6211-f929-4608-b45d-501557f97fc8", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the package into the parcel locker.", + "Pick up the package from the inbound machine.", + "Pick up the package from the conveyor belt.", + "Place the package onto the inbound machine.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_box_storage_parcel_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_box_storage_parcel_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_place_plastic_bowl_ag": { + "path": "G1edu-u3_place_plastic_bowl_ag", + "dataset_name": "place_plastic_bowl_ag", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "pick", + "place" + ], + "tasks": "Place the plastic bowl on the table with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plastic_bowl", + "level1": "container", + "level2": "plastic_bowl", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-7219", + "dataset_size": "116.0MB", + "statistics": { + "total_episodes": 38, + "total_frames": 7219, + "total_tasks": 1, + "total_videos": 38, + "total_chunks": 1, + "chunks_size": 39, + "fps": 30 + }, + "dataset_uuid": "200d19c3-55a3-44fd-830a-10c1b2f63ed7", "language": [ "en", "zh" @@ -52854,12 +47066,9 @@ "robotics" ], "sub_tasks": [ + "Place the plastic bowl on the table with right gripper", "End", - "Place the light basket on the middle of the table with the left gripper", - "Grasp the light basket with the left gripper", - "Static", - "Grasp the peach with the right gripper", - "Place the peach into the light basket with the right gripper", + "Place the plastic bowl on the table with left gripper", "null" ], "annotations": { @@ -52897,10 +47106,108 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_peach_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_peach_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_place_plastic_bowl_ag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_place_plastic_bowl_ag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galaxea_R1_Lite_pour_solid_marble_bar_counter": { + "R1_Lite_put_the_pillow_on_the_bed": { + "path": "R1_Lite_put_the_pillow_on_the_bed", + "dataset_name": "put_the_pillow_on_the_bed", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Pick up the pillow", + "objects": [ + { + "object_name": "pillow", + "level1": "daily_necessities", + "level2": "pillow", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bed", + "level1": "furniture", + "level2": "bed", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-53484", + "dataset_size": "1.7GB", + "statistics": { + "total_episodes": 48, + "total_frames": 53484, + "total_tasks": 1, + "total_videos": 144, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "c25eff25-52c9-4178-a906-2f1040e89068", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pick up the pillow", + "Place the pillow at the end of the bed", + "Move to the head of the bed", + "Move to the foot of the bed", + "Place the pillow at the bedside", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_put_the_pillow_on_the_bed_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_stack_block": { "task_categories": [ "robotics" ], @@ -52930,11 +47237,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_pour_solid_marble_bar_counter", + "dataset_name": "Airbot_MMK2_stack_block", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "househhold", - "level2": "kitchen", + "level1": "household", + "level2": "bedroom", "level3": null, "level4": null, "level5": null @@ -52942,41 +47249,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "marble_bar_counter", - "level1": "furniture", - "level2": "marble_bar_counter", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plastic_cup", - "level1": "cups", - "level2": "plastic_cup", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "green_dish", - "level1": "plates", - "level2": "green_dish", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pink_bowl", - "level1": "plastic_bowls", - "level2": "pink_bowl", + "object_name": "square_building_blocks", + "level1": "toys", + "level2": "square_building_blocks", "level3": null, "level4": null, "level5": null }, { - "object_name": "solid", - "level1": "materials", - "level2": "solid", + "object_name": "block_pillar", + "level1": "toys", + "level2": "block_pillar", "level3": null, "level4": null, "level5": null @@ -52984,100 +47267,111 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "use a gripper to pick up the cup and pour the solid into a bowl or tray." + "place the square building blocks in the center with left hand and put the cylindrical building blocks on top with right hand." ], "sub_tasks": [ { - "subtask": "Abnormal", + "subtask": "Grasp the blue build blocks with the left gripper", "subtask_index": 0 }, { - "subtask": "Grasp the glass of shrimp with the left gripper", + "subtask": "Grasp the green build blocks with the right gripper", "subtask_index": 1 }, { - "subtask": "Pour the shrimp beans into the green bowl with the left gripper", + "subtask": "Place the blue build blocks on the Mini table with the left gripper", "subtask_index": 2 }, { - "subtask": "Pour the shrimp beans into the green bowl with the right gripper", + "subtask": "Place the green build blocks on the blue build block with the right gripper", "subtask_index": 3 }, { - "subtask": "Grasp the glass of coffee beans with the right gripper", + "subtask": "Grasp the blue diamond shaped build blocks with the right gripper", "subtask_index": 4 }, { - "subtask": "Grasp the glass of coffee beans with the left gripper", + "subtask": "Grasp the red build blocks with the right gripper", "subtask_index": 5 }, { - "subtask": "Place the glass cup with the right gripper", + "subtask": "Place the blue diamond shaped build blocks on the glasses case with the right gripper", "subtask_index": 6 }, { - "subtask": "Pour the shrimp into the pink bowl with the left gripper", + "subtask": "Place the purple build blocks on the red build block with the right gripper", "subtask_index": 7 }, { - "subtask": "End", + "subtask": "Place the green build blocks on the center of the table with the left gripper", "subtask_index": 8 }, { - "subtask": "Pour the coffee beans into the green bowl with the right gripper", + "subtask": "Grasp the green build blocks with the left gripper", "subtask_index": 9 }, { - "subtask": "Pour the coffee beans into the pink bowl with the left gripper", + "subtask": "Place the glasses case on the red and green build blocks with the left gripper", "subtask_index": 10 }, { - "subtask": "Pour the shrimp into the pink bowl with the right gripper", + "subtask": "Grasp the purple build blocks with the right gripper", "subtask_index": 11 }, { - "subtask": "Pour the coffee beans into the pink bowl with the right gripper", + "subtask": "Place the blue build blocks on the yellow build block with the left gripper", "subtask_index": 12 }, { - "subtask": "Grasp the glass of shrimp with the right gripper", + "subtask": "Grasp the glasses case with the left gripper", "subtask_index": 13 }, { - "subtask": "Place the glass cup with the left gripper", + "subtask": "Place the green cylindrical build blocks on the green build blocks with the right gripper", "subtask_index": 14 }, { - "subtask": "Pour the coffee beans into the green bowl with the left gripper", + "subtask": "End", "subtask_index": 15 }, { - "subtask": "null", + "subtask": "Place the blue build blocks on the pink build block with the left gripper", "subtask_index": 16 + }, + { + "subtask": "Place the red build blocks on the blue build block with the right gripper", + "subtask_index": 17 + }, + { + "subtask": "Grasp the green cylindrical build blocks with the right gripper", + "subtask_index": 18 + }, + { + "subtask": "null", + "subtask_index": 19 } ], "atomic_actions": [ "grasp", "pick", - "place", - "pour" + "place" ], "robot_name": [ - "Galaxea_R1_Lite" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "end_effector_type": "five_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_left_rgb", - "cam_head_right_rgb", + "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "cam_right_wrist_rgb", + "cam_front_rgb" ], "came_info": { - "cam_head_left_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_head_right_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p" + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", @@ -53094,31 +47388,31 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 85, - "total_frames": 31250, + "total_episodes": 236, + "total_frames": 60925, "fps": 30, - "total_tasks": 17, - "total_videos": 340, + "total_tasks": 20, + "total_videos": 944, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, + "state_dim": 36, + "action_dim": 36, "camera_views": 4, - "dataset_size": "1.29 GB" + "dataset_size": "2.00 GB" }, - "frame_num": 31250, - "dataset_size": "1.29 GB", - "data_structure": "Galaxea_R1_Lite_pour_solid_marble_bar_counter_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (73 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 60925, + "dataset_size": "2.00 GB", + "data_structure": "Airbot_MMK2_stack_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| `-- ... (224 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": "0:84" + "train": "0:235" }, "features": { - "observation.images.cam_head_left_rgb": { + "observation.images.cam_head_rgb": { "dtype": "video", "shape": [ - 720, - 1280, - 3 + 480, + 640, + 3 ], "names": [ "height", @@ -53126,8 +47420,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -53136,11 +47430,11 @@ "has_audio": false } }, - "observation.images.cam_head_right_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -53149,8 +47443,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -53159,10 +47453,10 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 360, + 480, 640, 3 ], @@ -53172,7 +47466,7 @@ "channels" ], "info": { - "video.height": 360, + "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -53182,10 +47476,10 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_front_rgb": { "dtype": "video", "shape": [ - 360, + 480, 640, 3 ], @@ -53195,7 +47489,7 @@ "channels" ], "info": { - "video.height": 360, + "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -53208,7 +47502,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 14 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -53223,14 +47517,36 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "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": [ - 14 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -53245,8 +47561,30 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "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": { @@ -53397,66 +47735,6 @@ 2 ], "dtype": "int32" - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" } }, "authors": { @@ -53478,456 +47756,1033 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Cobot_Magic_turn_on_the_bulb": { - "path": "Cobot_Magic_turn_on_the_bulb", - "dataset_name": "turn_on_the_bulb", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "press" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bulb", - "level1": "tool", - "level2": "bulb", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-2216", - "dataset_size": "52.8MB", - "statistics": { - "total_episodes": 11, - "total_frames": 2216, - "total_tasks": 1, - "total_videos": 33, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 50 - }, - "dataset_uuid": "7bd56e56-b106-4062-8952-e5bffc346b4c", - "language": [ - "en", - "zh" - ], + "Airbot_MMK2_storage_diamond_ring": { "task_categories": [ "robotics" ], - "sub_tasks": [ - "End", - "Turn on the switch", - "null" + "language": [ + "en" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_turn_on_the_bulb_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_turn_on_the_bulb_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_move_the_position_of_the_apple": { - "path": "R1_Lite_move_the_position_of_the_apple", - "dataset_name": "move_the_position_of_the_apple", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "place", - "pick", - "grasp" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, + "license": "apache-2.0", + "configs": [ { - "object_name": "apple", - "level1": "fruit", - "level2": "apple", - "level3": null, - "level4": null, - "level5": null + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_storage_diamond_ring", + "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": "bath_ball", + "object_name": "diamond_ring", "level1": "daily_necessities", - "level2": "bath_ball", + "level2": "diamond_ring", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "object_name": "flip_top_paper_boxes", + "level1": "packaging", + "level2": "flip_top_paper_boxes", "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 ring into the box." + ], + "sub_tasks": [ { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the diamond ring in the box with the right gripper", + "subtask_index": 0 }, { - "object_name": "can", - "level1": "container", - "level2": "can", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 1 }, { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", - "level3": null, - "level4": null, - "level5": null + "subtask": "Close the lid of the box with the left gripper", + "subtask_index": 2 }, { - "object_name": "hard_cleanser", - "level1": "daily_necessities", - "level2": "hard_cleanser", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the diamond ring with the right gripper", + "subtask_index": 3 }, { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null + "subtask": "null", + "subtask_index": 4 + } + ], + "atomic_actions": [ + "grasp", + "place", + "pick", + "turn" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 50, + "total_frames": 9131, + "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": "426.97 MB" + }, + "frame_num": 9131, + "dataset_size": "426.97 MB", + "data_structure": "Airbot_MMK2_storage_diamond_ring_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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 + } }, - { - "object_name": "peeler", - "level1": "tool", - "level2": "peeler", - "level3": null, - "level4": null, - "level5": null + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "block", - "level1": "toy", - "level2": "block", - "level3": null, - "level4": null, - "level5": null + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "duck", - "level1": "toy", - "level2": "duck", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soap", - "level1": "daily_necessities", - "level2": "soap", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "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 + } }, - { - "object_name": "basket", - "level1": "container", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null + "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" + ] }, - { - "object_name": "cola", - "level1": "drink", - "level2": "cola", - "level3": null, - "level4": null, - "level5": null + "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" + ] }, - { - "object_name": "detergent", - "level1": "daily_necessities", - "level2": "detergent", - "level3": null, - "level4": null, - "level5": null + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "egg_beater", - "level1": "electrical_appliances", - "level2": "egg_beater", - "level3": null, - "level4": null, - "level5": null + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "marker", - "level1": "office_supplies", - "level2": "marker", - "level3": null, - "level4": null, - "level5": null + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" }, - { - "object_name": "rubiks_cube", - "level1": "toy", - "level2": "rubiks_cube", - "level3": null, - "level4": null, - "level5": null + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" }, - { - "object_name": "bread_slice", - "level1": "food", - "level2": "bread_slice", - "level3": null, - "level4": null, - "level5": null + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" }, - { - "object_name": "brush", - "level1": "daily_necessities", - "level2": "brush", - "level3": null, - "level4": null, - "level5": null + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" }, - { - "object_name": "yogurt", - "level1": "drink", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "power_strip", - "level1": "electric_appliance", - "level2": "power_strip", - "level3": null, - "level4": null, - "level5": null + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "milk", - "level1": "drink", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "soda", - "level1": "drink", - "level2": "soda", - "level3": null, - "level4": null, - "level5": null + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "lime", - "level1": "fruit", - "level2": "lime", - "level3": null, - "level4": null, - "level5": null + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Airbot_MMK2_storage_block_BBs": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ { - "object_name": "coffee_capsule", - "level1": "drink", - "level2": "coffee_capsule", - "level3": null, - "level4": null, - "level5": null + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_storage_block_BBs", + "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": "dish", - "level1": "container", - "level2": "dish", - "level3": null, + "object_name": null, + "level1": "bb_pellets", + "level2": "ball", + "level3": "bb_pellets", "level4": null, "level5": null }, { - "object_name": "glass", - "level1": "furniture", - "level2": "glass", - "level3": null, + "object_name": null, + "level1": "bowl", + "level2": "bowl", + "level3": "bowl", "level4": null, "level5": null }, { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, + "object_name": null, + "level1": "building_blocks", + "level2": "rectangular_building_blocks", + "level3": "building_blocks", "level4": null, "level5": null - }, + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "put the bb pellets and rectangular building blocks into the bowl." + ], + "sub_tasks": [ { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the green cuboid block into the bowl with the right gripper", + "subtask_index": 0 }, { - "object_name": "gum", - "level1": "daily_necessities", - "level2": "gum", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the green cuboid block with the right gripper", + "subtask_index": 1 }, { - "object_name": "tape", - "level1": "daily_necessities", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the bullet with the left gripper", + "subtask_index": 2 }, { - "object_name": "soft_cleanser", - "level1": "daily_necessities", - "level2": "soft_cleanser", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the bullet into the bowl with the left gripper", + "subtask_index": 3 }, { - "object_name": "chips", - "level1": "food", - "level2": "chips", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 4 }, { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", + "subtask": "null", + "subtask_index": 5 + } + ], + "atomic_actions": [ + "pick", + "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": 48, + "total_frames": 8640, + "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": "282.66 MB" + }, + "frame_num": 8640, + "dataset_size": "282.66 MB", + "data_structure": "Airbot_MMK2_storage_block_BBs_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:47" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "RMC-AIDA-L_stir_coffee": { + "path": "RMC-AIDA-L_stir_coffee", + "dataset_name": "stir_coffee", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "take", + "put", + "move", + "stir" + ], + "tasks": "Stir the coffee in the cup with the right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", + "object_name": "cup", + "level1": "tableware", + "level2": "cup", "level3": null, "level4": null, "level5": null @@ -53939,21 +48794,29 @@ "level3": null, "level4": null, "level5": null + }, + { + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-5959", - "dataset_size": "223.0MB", + "frame_range": "0-555807", + "dataset_size": "3.6GB", "statistics": { - "total_episodes": 35, - "total_frames": 5959, - "total_tasks": 1, - "total_videos": 140, + "total_episodes": 767, + "total_frames": 555807, + "total_tasks": 8, + "total_videos": 2301, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "9155fbd7-8bc2-44d0-a2dc-16b1fad44af0", + "dataset_uuid": "ee676d19-f3d4-4c11-bb83-9a2474cf77c5", "language": [ "en", "zh" @@ -53962,13 +48825,21 @@ "robotics" ], "sub_tasks": [ - "End", - "Place the apple on the table with left gripper", - "Grasp the apple with left gripper", - "Place the apple on the table with right gripper", - "Grasp the apple with right gripper", - "Static", + "Stir the coffee in the cup with the right gripper", + "Stir the coffee with right gripper", "Abnormal", + "Move the cup with coffee to the center of view with the right gripper", + "Static", + "Move the cup in the center of the table with right gripper", + "Grasp the spoon with left gripper", + "Move the cup with coffee to the center of view with the left gripper", + "Stir the coffee in the cup with the left gripper", + "Grasp the spoon with right gripper", + "End", + "Stir the coffee with left gripper", + "Move the cup in the center of the table with left gripper", + "Pick up the spoon with the left gripper", + "Pick up the spoon with the right gripper", "null" ], "annotations": { @@ -54006,480 +48877,577 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_stir_coffee_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_pick_up_the_toy_ai": { - "path": "G1edu-u3_pick_up_the_toy_ai", - "dataset_name": "pick_up_the_toy_ai", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" + "Airbot_MMK2_stack_cubic_block": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick" + "language": [ + "en" ], - "tasks": "End", - "objects": [ + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_stack_cubic_block", + "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": "toy", - "level1": "toy", - "level2": "toy", + "object_name": "square_building_blocks", + "level1": "toys", + "level2": "square_building_blocks", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-3242", - "dataset_size": "44.8MB", - "statistics": { - "total_episodes": 10, - "total_frames": 3242, - "total_tasks": 1, - "total_videos": 10, - "total_chunks": 1, - "chunks_size": 10, - "fps": 30 - }, - "dataset_uuid": "804260a5-c07f-432e-9080-8112b837464a", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "pick up the building blocks with left and right hands respectively and place them on the blocks." ], "sub_tasks": [ - "End", - "Grasp the toy bear and lift it to the center of the view with right gripper", - "Grasp the toy bear and lift it to the center of the view with left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_up_the_toy_ai_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_up_the_toy_ai_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_store_coffee_cups": { - "path": "AIRBOT_MMK2_store_coffee_cups", - "dataset_name": "store_coffee_cups", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Grasp the cup the right gripper", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the blue build blocks with the right gripper", + "subtask_index": 0 }, { - "object_name": "coffee_cup", - "level1": "container", - "level2": "coffee_cup", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 1 }, { - "object_name": "basin", - "level1": "container", - "level2": "basin", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-11166", - "dataset_size": "444.8MB", - "statistics": { - "total_episodes": 50, - "total_frames": 11166, - "total_tasks": 1, - "total_videos": 200, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "38759f00-3a88-419c-b74b-d8a66882a254", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the cup the right gripper", - "place the cup in the basin use the left gripper", - "End", - "Grasp the cup the left gripper", - "place the cup in the basin use the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_store_coffee_cups_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_store_coffee_cups_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_hotel_services_e": { - "path": "leju_robot_hotel_services_e", - "dataset_name": "hotel_services_e", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Hand the room key to the person.", - "objects": [ + "subtask": "Place the blue build blocks on the red build block with the right gripper", + "subtask_index": 2 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the yellow build blocks on the orange build block with the right gripper", + "subtask_index": 3 }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the red build blocks on the center of the table with the left gripper", + "subtask_index": 4 }, { - "object_name": "card", - "level1": "nfc", - "level2": "card", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the orange build blocks on the yellow build block with the right gripper", + "subtask_index": 5 }, { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-212885", - "dataset_size": "14.2GB", - "statistics": { - "total_episodes": 309, - "total_frames": 212885, - "total_tasks": 1, - "total_videos": 927, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "4d57f5ee-7850-4fb4-8532-415c1821c756", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Hand the room key to the person.", - "Place the ID card on the card reader.", - "Take the ID card from the person's hand.", - "Pick up the room key from the key card box.", - "Hand the ID card to the person.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_picks_up_battery_a": { - "path": "AgiBot-g1_picks_up_battery_a", - "dataset_name": "picks_up_battery_a", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "place", - "pick", - "grasp" - ], - "tasks": "Place the power supply on the operating table.", - "objects": [ + "subtask": "Grasp the blue build blocks with the left gripper", + "subtask_index": 6 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the red build blocks with the left gripper", + "subtask_index": 7 }, { - "object_name": "carton", - "level1": "container", - "level2": "carton", - "level3": null, - "level4": null, - "level5": null + "subtask": "Abnormal", + "subtask_index": 8 }, { - "object_name": "battery", - "level1": "tool", - "level2": "battery", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the orange build blocks with the right gripper", + "subtask_index": 9 + }, + { + "subtask": "Place the blue build blocks on the red build block with the left gripper", + "subtask_index": 10 + }, + { + "subtask": "Grasp the yellow build blocks with the right gripper", + "subtask_index": 11 + }, + { + "subtask": "null", + "subtask_index": 12 } ], - "operation_platform_height": null, - "frame_range": "0-214263", - "dataset_size": "119.7GB", - "statistics": { - "total_episodes": 562, - "total_frames": 214263, - "total_tasks": 1, - "total_videos": 4496, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "3385f559-eb6d-46ff-94d3-a6b48d250220", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Airbot_MMK2" ], - "sub_tasks": [ - "Place the power supply on the operating table.", - "Grab and lift the power supply from the large box.", - "null" + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_mobile_accessory_storage_box_a": { - "path": "AgiBot-g1_mobile_accessory_storage_box_a", - "dataset_name": "mobile_accessory_storage_box_a", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Place the open mouse box onto the operation table.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "accessories", - "level1": "electronic_products", - "level2": "accessories", - "level3": null, - "level4": null, - "level5": null - } + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" ], - "operation_platform_height": null, - "frame_range": "0-40631", - "dataset_size": "16.7GB", "statistics": { - "total_episodes": 81, - "total_frames": 40631, - "total_tasks": 1, + "total_episodes": 162, + "total_frames": 48691, + "fps": 30, + "total_tasks": 13, "total_videos": 648, "total_chunks": 1, "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "1.92 GB" + }, + "frame_num": 48691, + "dataset_size": "1.92 GB", + "data_structure": "Airbot_MMK2_stack_cubic_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| `-- ... (150 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": "0:161" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "G1edu-u3_bowl_storage_grape_singletry": { + "path": "G1edu-u3_bowl_storage_grape_singletry", + "dataset_name": "bowl_storage_grape_singletry", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the grapes with left hand", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread", + "level1": "food", + "level2": "bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "bowl", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-119619", + "dataset_size": "2.4GB", + "statistics": { + "total_episodes": 242, + "total_frames": 119619, + "total_tasks": 1, + "total_videos": 726, + "total_chunks": 1, + "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "811a660c-6371-490a-9141-3019afa0cac2", + "dataset_uuid": "40947b8c-339b-414f-94d9-6d5f24520362", "language": [ "en", "zh" @@ -54488,8 +49456,12 @@ "robotics" ], "sub_tasks": [ - "Place the open mouse box onto the operation table.", - "Grab and pick up the open mouse box from the accessory packaging area.", + "Grasp the grapes with left hand", + "Grasp the bread with the left gripper", + "Static", + "End", + "Place the bread the bowl with the left gripper", + "Place the grapes in the plate with left hand", "null" ], "annotations": { @@ -54527,19 +49499,21 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_bowl_storage_grape_singletry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_pushing_magnet": { - "path": "Cobot_Magic_pushing_magnet", - "dataset_name": "pushing_magnet", + "RMC-AIDA-L_fruit_storage": { + "path": "RMC-AIDA-L_fruit_storage", + "dataset_name": "fruit_storage", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "push" + "grasp", + "pick", + "place" ], "tasks": "End", "objects": [ @@ -54552,27 +49526,51 @@ "level5": null }, { - "object_name": "magnet", - "level1": "tool", - "level2": "magnet", + "object_name": "grape", + "level1": "fruit", + "level2": "grape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-23553", - "dataset_size": "423.5MB", + "frame_range": "0-291785", + "dataset_size": "2.6GB", "statistics": { - "total_episodes": 100, - "total_frames": 23553, - "total_tasks": 1, - "total_videos": 300, + "total_episodes": 521, + "total_frames": 291785, + "total_tasks": 2, + "total_videos": 1563, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "ad07d99e-6bee-4147-b81a-8f2dfe943ed8", + "dataset_uuid": "8276223a-988a-4a97-8459-97f7c498cbb5", "language": [ "en", "zh" @@ -54582,7 +49580,20 @@ ], "sub_tasks": [ "End", - "Push the magnet on the right to connect the magnet on the left", + "Place the grape in the purple plate with left gripper", + "Grasp the grape with right gripper", + "Place the banana in the purple plate with right gripper", + "Place the banana in the blue bowl with left gripper", + "Grasp the banana with right gripper", + "Grasp the grape with left gripper", + "Place the bowl on the table with right gripper", + "Place the grape in the purple plate with right gripper", + "Place the banana in the purple plate with left gripper", + "Lift the blue bowl with right gripper", + "Grasp the blue bowl with right gripper", + "Static", + "Abnormal", + "Grasp the banana with left gripper", "null" ], "annotations": { @@ -54620,23 +49631,22 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_pushing_magnet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_pushing_magnet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "RMC-AIDA-L_fruit_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_fruit_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_moving_parts_b": { - "path": "leju_robot_moving_parts_b", - "dataset_name": "moving_parts_b", + "G1edu-u3_pick_up_the_bottled_water_as": { + "path": "G1edu-u3_pick_up_the_bottled_water_as", + "dataset_name": "pick_up_the_bottled_water_as", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "pick" ], - "tasks": "Insert the small parts into the corresponding holes on the workbench.", + "tasks": "Grasp the water bottle and lift it to the center of the view with right gripper", "objects": [ { "object_name": "table", @@ -54647,35 +49657,35 @@ "level5": null }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", + "object_name": "bottle", + "level1": "container", + "level2": "bottle", "level3": null, "level4": null, "level5": null }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", + "object_name": "water", + "level1": "beverages", + "level2": "water", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-708011", - "dataset_size": "43.3GB", + "frame_range": "0-9753", + "dataset_size": "116.6MB", "statistics": { - "total_episodes": 490, - "total_frames": 708011, + "total_episodes": 24, + "total_frames": 9753, "total_tasks": 1, - "total_videos": 1470, + "total_videos": 24, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 24, "fps": 30 }, - "dataset_uuid": "b23f0a82-6d8f-4f98-b818-5e10125816cc", + "dataset_uuid": "a5f8649a-a1ab-415a-9fd4-b48b04fab77e", "language": [ "en", "zh" @@ -54684,15 +49694,10 @@ "robotics" ], "sub_tasks": [ - "Insert the small parts into the corresponding holes on the workbench.", + "Grasp the water bottle and lift it to the center of the view with right gripper", + "Grasp the water bottle and lift it to the center of the view with left gripper", "End", - "Place the white part on the table with left gripper", - "Grasp the white part with left gripper", - "Move the small parts to the workbench.", - "Move to the table behind body", - "Take small components from the rack.", - "Pick up small parts from the shelf.", - "Move to the initial position of the workbench.", + "Abnormal", "null" ], "annotations": { @@ -54730,118 +49735,22 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_up_the_bottled_water_as_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_place_plastic_bowl_ah": { - "path": "G1edu-u3_place_plastic_bowl_ah", - "dataset_name": "place_plastic_bowl_ah", + "G1edu-u3_pick_up_the_tissue_box_ao": { + "path": "G1edu-u3_pick_up_the_tissue_box_ao", + "dataset_name": "pick_up_the_tissue_box_ao", "robot_type": "", "end_effector_type": [ "three_finger_hand" ], "scene_type": [], - "atomic_actions": [ - "pick", - "place" - ], - "tasks": "Place the plastic bowl on the table with right gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plastic_bowl", - "level1": "container", - "level2": "plastic_bowl", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-5638", - "dataset_size": "83.7MB", - "statistics": { - "total_episodes": 33, - "total_frames": 5638, - "total_tasks": 1, - "total_videos": 33, - "total_chunks": 1, - "chunks_size": 34, - "fps": 30 - }, - "dataset_uuid": "7153928d-6c50-4662-91a7-9d48d64e1e5d", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the plastic bowl on the table with right gripper", - "End", - "Place the plastic bowl on the table with left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_place_plastic_bowl_ah_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_place_plastic_bowl_ah_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_battery_storage_b": { - "path": "AgiBot-g1_battery_storage_b", - "dataset_name": "battery_storage_b", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], "atomic_actions": [ "grasp", - "place", "pick" ], - "tasks": "Place the power supply on the operating table.", + "tasks": "Grasp the tissue box and lift it to the center of the view with both gripper", "objects": [ { "object_name": "table", @@ -54853,34 +49762,34 @@ }, { "object_name": "box", - "level1": "container", + "level1": "home_storage", "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "battery", - "level1": "electronic_products", - "level2": "battery", + "object_name": "tissue", + "level1": "daily_necessities", + "level2": "tissue", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-57968", - "dataset_size": "29.6GB", + "frame_range": "0-21166", + "dataset_size": "273.8MB", "statistics": { - "total_episodes": 115, - "total_frames": 57968, + "total_episodes": 29, + "total_frames": 21166, "total_tasks": 1, - "total_videos": 920, + "total_videos": 29, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 29, "fps": 30 }, - "dataset_uuid": "632c0e2b-a8bb-4e12-9635-82df87be2096", + "dataset_uuid": "3adf4438-1317-4ffb-9447-b4dd516c8559", "language": [ "en", "zh" @@ -54889,8 +49798,8 @@ "robotics" ], "sub_tasks": [ - "Place the power supply on the operating table.", - "Grab and lift the power supply from the large box.", + "Grasp the tissue box and lift it to the center of the view with both gripper", + "End", "null" ], "annotations": { @@ -54928,929 +49837,757 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_up_the_tissue_box_ao_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_throw_out_the_trash": { - "path": "R1_Lite_throw_out_the_trash", - "dataset_name": "throw_out_the_trash", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ - { - "object_name": "trash_can", - "level1": "container", - "level2": "trash_can", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "garbage_bag", - "level1": "container", - "level2": "garbage_bag", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "the_door", - "level1": "furniture", - "level2": "the_door", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-143720", - "dataset_size": "6.0GB", - "statistics": { - "total_episodes": 109, - "total_frames": 143720, - "total_tasks": 1, - "total_videos": 327, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "1aceeebe-3221-4690-8d72-ca6f9ec512eb", - "language": [ - "en", - "zh" - ], + "Airbot_MMK2_take_dog_doll": { "task_categories": [ "robotics" ], - "sub_tasks": [ - "End", - "Place the outer trash can on the ground", - "Put the trash bag at the door", - "Pick up the trash bag", - "abnormal", - "null" + "language": [ + "en" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_throw_out_the_trash_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_throw_out_the_trash_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_the_box_stores_table_tennis_balls": { - "path": "Cobot_Magic_the_box_stores_table_tennis_balls", - "dataset_name": "the_box_stores_table_tennis_balls", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "use the right arm to clamp the table tennis ball closest to it", - "objects": [ + "license": "apache-2.0", + "configs": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_take_dog_doll", + "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": "container", - "level2": "box", + "object_name": "toy_dog", + "level1": "doll", + "level2": "toy_dog", "level3": null, "level4": null, "level5": null }, { - "object_name": "table_tennis", - "level1": "toy", - "level2": "table_tennis", + "object_name": "lid", + "level1": "storage_utensils", + "level2": "lid", "level3": null, "level4": null, "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-438756", - "dataset_size": "19.9GB", - "statistics": { - "total_episodes": 477, - "total_frames": 438756, - "total_tasks": 5, - "total_videos": 1431, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "4af013a1-8691-4531-a11d-4a02b8ba9fdf", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "pick up the toy dog from the white lid by hand and place it on the table." ], "sub_tasks": [ - "use the right arm to clamp the table tennis ball closest to it", - "use the right arm to put the table tennis ball into the box", - "use the left arm to clamp the table tennis ball closest to it", - "use the left arm to put the table tennis ball into the box", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_take_and_put_away_items": { - "path": "R1_Lite_take_and_put_away_items", - "dataset_name": "take_and_put_away_items", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "pull", - "push" - ], - "tasks": "Take the mineral water out of the drawer and put it on the table", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "drawer", - "level1": "container", - "level2": "drawer", - "level3": null, - "level4": null, - "level5": null - }, { - "object_name": "umbrella", - "level1": "daily_necessities", - "level2": "umbrella", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the puppy on the table with the left and right grippers", + "subtask_index": 0 }, { - "object_name": "data_cable", - "level1": "electronic_products", - "level2": "data_cable", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the puppy with the left and right grippers", + "subtask_index": 1 }, { - "object_name": "mineral_water", - "level1": "beverages", - "level2": "mineral_water", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 2 }, { - "object_name": "storage_box", - "level1": "container", - "level2": "storage_box", - "level3": null, - "level4": null, - "level5": null + "subtask": "null", + "subtask_index": 3 } ], - "operation_platform_height": null, - "frame_range": "0-137069", - "dataset_size": "6.9GB", - "statistics": { - "total_episodes": 112, - "total_frames": 137069, - "total_tasks": 1, - "total_videos": 336, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "fa3f7148-5f74-444e-82a5-9f8b31a69987", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "sub_tasks": [ - "Take the mineral water out of the drawer and put it on the table", - "Open the drawer", - "Take the data cable out of the drawer and put it on the table", - "Take the umbrella out of the drawer and put it on the table", - "Take the storage box out of the drawer and put it on the table", - "Put the storage box in the drawer", - "Close the drawer", - "Put the umbrella in the drawer", - "Put the data cable in the drawer", - "Put the mineral water in the drawer", - "null" + "robot_name": [ + "Airbot_MMK2" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "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": 6425, + "fps": 30, + "total_tasks": 4, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "253.22 MB" + }, + "frame_num": 6425, + "dataset_size": "253.22 MB", + "data_structure": "Airbot_MMK2_take_dog_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| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } }, "authors": { "contributed_by": [ { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Galaxea_R1_Lite_storage_object_brown_basket": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], "tags": [ "RoboCOIN", "LeRobot" ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_take_and_put_away_items_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_take_and_put_away_items_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "RMC-AIDA-L_basket_storage_egg_yolk_pastry": { - "path": "RMC-AIDA-L_basket_storage_egg_yolk_pastry", - "dataset_name": "basket_storage_egg_yolk_pastry", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } ], - "tasks": "Place the basket in the center of view with left gripper", + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Galaxea_R1_Lite_storage_object_brown_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", + "object_name": "brown_basket", + "level1": "basket", + "level2": "brown_basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", + "object_name": "banana", + "level1": "fruits", + "level2": "banana", "level3": null, "level4": null, "level5": null }, { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", + "object_name": "bathing_in_flowers", + "level1": "daily_chemical_products", + "level2": "bathing_in_flowers", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-295062", - "dataset_size": "3.5GB", - "statistics": { - "total_episodes": 727, - "total_frames": 295062, - "total_tasks": 4, - "total_videos": 2181, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "928d5a84-eae7-4fae-b272-9356c151aa6d", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the basket in the center of view with left gripper", - "Place the egg yolk pastry in the basket with right gripper", - "Move the basket to the center of view with the right gripper", - "Move the basket to the center of view with the left gripper", - "Pick up the egg yolk pastry with the right gripper", - "Place the basket in the center of view with right gripper", - "Pick up the basket with the left gripper", - "Place the basket in the center of view with the left gripper", - "Grasp egg yolk pastry with left gripper", - "Place the egg yolk pastry into the basket with the right gripper", - "Grasp the basket with right gripper", - "End", - "Grasp egg yolk pastry with right gripper", - "Place the egg yolk pastry in the basket with left gripper", - "Grasp the basket with left gripper", - "Place the egg yolk pastry into the basket with the left gripper", - "Pick up the egg yolk pastry with the left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_moving_parts_u": { - "path": "leju_robot_moving_parts_u", - "dataset_name": "moving_parts_u", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the black part on the table with right gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "blue_cup", + "level1": "cups", + "level2": "blue_cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", + "object_name": "blue_pot", + "level1": "cookware", + "level2": "blue_pot", "level3": null, "level4": null, "level5": null }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", + "object_name": "toast_slices", + "level1": "bread", + "level2": "toast_slices", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-149345", - "dataset_size": "10.4GB", - "statistics": { - "total_episodes": 100, - "total_frames": 149345, - "total_tasks": 1, - "total_videos": 300, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "5138770c-0dd3-4a50-a8a2-efa57aabc3e9", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the black part on the table with right gripper", - "Pick up the large material from the shelf.", - "Insert the large material into the corresponding slot on the workbench.", - "End", - "Grasp the black part with right gripper", - "Move the large material to the workbench.", - "Move to the initial position of the shelf.", - "Move to the table behind body", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_u_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_u_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "RMC-AIDA-L_clean_table": { - "path": "RMC-AIDA-L_clean_table", - "dataset_name": "clean_table", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "wipe" - ], - "tasks": "Place the rag on the table with the right gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "brown_towel", + "level1": "towels", + "level2": "brown_towel", "level3": null, "level4": null, "level5": null }, { - "object_name": "cup", - "level1": "container", - "level2": "cup", + "object_name": "can", + "level1": "snacks", + "level2": "can", "level3": null, "level4": null, "level5": null }, { - "object_name": "blue_rag", - "level1": "clothing", - "level2": "blue_rag", + "object_name": "coke(slim_can)", + "level1": "beverages", + "level2": "coke(slim_can)", "level3": null, "level4": null, "level5": null }, { - "object_name": "pruple_rag", - "level1": "clothing", - "level2": "pruple_rag", + "object_name": "potato_chips", + "level1": "snacks", + "level2": "potato_chips", "level3": null, "level4": null, "level5": null }, { - "object_name": "water", - "level1": "drink", - "level2": "water", + "object_name": "chocolate", + "level1": "snacks", + "level2": "chocolate", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-514178", - "dataset_size": "3.5GB", - "statistics": { - "total_episodes": 776, - "total_frames": 514178, - "total_tasks": 4, - "total_videos": 2328, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "ed026bcf-f342-4259-9fce-12208d2ca5b3", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the rag on the table with the right gripper", - "Stand the paper cup upright with the left gripper", - "Grasp the paper cup with the left gripper", - "Grasp the paper cup with the right gripper", - "Grasp the rag with the left gripper", - "Grasp the rag with the right gripper", - "Wipe the stains off the table with the left gripper", - "Place the rag on the table with the left gripper", - "Stand the paper cup upright with the right gripper", - "end", - "Wipe the stains off the table with the right gripper", - "abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "RMC-AIDA-L_clean_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_clean_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_hotel_services_b": { - "path": "leju_robot_hotel_services_b", - "dataset_name": "hotel_services_b", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Hand the room key to the person.", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "compass", + "level1": "rulers", + "level2": "compass", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "block_pillar", + "level1": "building_blocks", + "level2": "block_pillar", "level3": null, "level4": null, "level5": null }, { - "object_name": "card", - "level1": "nfc", - "level2": "card", + "object_name": "egg_beater", + "level1": "spoons_and_spatulas", + "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", + "object_name": "eraser", + "level1": "erasers", + "level2": "eraser", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-209703", - "dataset_size": "14.0GB", - "statistics": { - "total_episodes": 288, - "total_frames": 209703, - "total_tasks": 1, - "total_videos": 864, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "1652000d-29c5-40d4-9d8d-3198ed81edbb", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Hand the room key to the person.", - "Place the ID card on the card reader.", - "Take the ID card from the person's hand.", - "Pick up the room key from the key card box.", - "Hand the ID card to the person.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Agilex_Cobot_Magic_storage_object_closest_apple": { - "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\"" + "object_name": "chewing_gum", + "level1": "snacks", + "level2": "chewing_gum", + "level3": null, + "level4": null, + "level5": null }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_storage_object_closest_apple", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "office_workspace", - "level2": "office", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", - "objects": [ { - "object_name": "table", - "level1": "home_storage", - "level2": "table", + "object_name": "mentholatum_facial_cleanser", + "level1": "daily_chemical_products", + "level2": "mentholatum_facial_cleanser", "level3": null, "level4": null, "level5": null }, { - "object_name": "brown_basket", - "level1": "home_storage", - "level2": "brown_basket", + "object_name": "green_lemon", + "level1": "fruits", + "level2": "green_lemon", "level3": null, "level4": null, "level5": null }, { - "object_name": "mango", - "level1": "food", - "level2": "mango", + "object_name": "peach", + "level1": "fruits", + "level2": "peach", "level3": null, "level4": null, "level5": null }, { - "object_name": "apple", - "level1": "food", - "level2": "apple", + "object_name": "power_strip", + "level1": "electrical_control_equipment", + "level2": "power_strip", "level3": null, "level4": null, "level5": null }, { - "object_name": "rubik's_cube", - "level1": "toys", - "level2": "rubik's_cube", + "object_name": "round_bread", + "level1": "bread", + "level2": "round_bread", "level3": null, "level4": null, "level5": null }, { - "object_name": "whiteboard_erasers", - "level1": "stationery", - "level2": "whiteboard_erasers", + "object_name": "mentholatum_facial_cleanser", + "level1": "daily_chemical_products", + "level2": "mentholatum_facial_cleanser", "level3": null, "level4": null, "level5": null }, { - "object_name": "bathing_in_flowers", - "level1": "daily_necessities", - "level2": "bathing_in_flowers", + "object_name": "square_building_blocks", + "level1": "building_blocks", + "level2": "square_building_blocks", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape", + "level1": "tape", + "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 @@ -55858,107 +50595,389 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "use a picker to grab the item closest to the apple and place it in the basket." + "use a gripper to pick the target object and place on the brown basket." ], "sub_tasks": [ { - "subtask": "Grasp the Rubik's Cube with the left gripper", + "subtask": "Grasp the blue pot with the left gripper", "subtask_index": 0 }, { - "subtask": "Grasp the chalkboard eraser with the right gripper", + "subtask": "Grasp the plugboard with the left gripper", "subtask_index": 1 }, { - "subtask": "Place the chalkboard eraser into the basket with the right gripper", + "subtask": "Place the potato chips into the basket with the left gripper", "subtask_index": 2 }, { - "subtask": "Place the shower sphere into the basket with the left gripper", + "subtask": "Place the banana into the basket with the left gripper", "subtask_index": 3 }, { - "subtask": "Place the mango into the basket with the right gripper", + "subtask": "Place the coke into the basket with the left gripper", "subtask_index": 4 }, { - "subtask": "Place the Rubik's Cube into the basket with the left gripper", + "subtask": "Place the brown towel into the basket with the right gripper", "subtask_index": 5 }, { - "subtask": "Place the shower sphere into the basket with the right gripper", + "subtask": "Place the peach slice into the basket with the right gripper", "subtask_index": 6 }, { - "subtask": "Grasp the mango with the right gripper", + "subtask": "Grasp the banana with the left gripper", "subtask_index": 7 }, { - "subtask": "Grasp the Rubik's Cube with the right gripper", + "subtask": "Place the round wooden block into the basket with the right gripper", "subtask_index": 8 }, { - "subtask": "End", + "subtask": "Place the duck toy into the basket with the right gripper", "subtask_index": 9 }, { - "subtask": "Place the Rubik's Cube into the basket with the right gripper", + "subtask": "Grasp the compasses with the right gripper", "subtask_index": 10 }, { - "subtask": "Grasp the mango with the left gripper", + "subtask": "Place the blackboard erasure into the basket with the left gripper", "subtask_index": 11 }, { - "subtask": "Place the mango into the basket with the left gripper", + "subtask": "Place the plugboard into the basket with the left gripper", "subtask_index": 12 }, { - "subtask": "Grasp the shower sphere with the right gripper", + "subtask": "Place the square chewing gum into the basket with the right gripper", "subtask_index": 13 }, { - "subtask": "Place the chalkboard eraser into the basket with the left gripper", + "subtask": "Grasp the duck toy with the left gripper", "subtask_index": 14 }, { - "subtask": "Grasp the shower sphere with the left gripper", + "subtask": "Grasp the cookie with the right gripper", "subtask_index": 15 }, { - "subtask": "Grasp the chalkboard eraser with the left gripper", + "subtask": "Grasp the blue cup with the left gripper", "subtask_index": 16 }, { - "subtask": "null", + "subtask": "Place the blackboard erasure into the basket with the right gripper", "subtask_index": 17 + }, + { + "subtask": "Place the hard facial cleanser into the basket with the left gripper", + "subtask_index": 18 + }, + { + "subtask": "Place the round bread into the basket with the left gripper", + "subtask_index": 19 + }, + { + "subtask": "Place the square wooden block into the basket with the right gripper", + "subtask_index": 20 + }, + { + "subtask": "Grasp the soft facial cleanser with the left gripper", + "subtask_index": 21 + }, + { + "subtask": "Place the blue pot into the basket with the left gripper", + "subtask_index": 22 + }, + { + "subtask": "Grasp the peach slice with the right gripper", + "subtask_index": 23 + }, + { + "subtask": "Place the soft facial cleanser into the basket with the left gripper", + "subtask_index": 24 + }, + { + "subtask": "Grasp the square chewing gum with the left gripper", + "subtask_index": 25 + }, + { + "subtask": "Place the shower sphere into the basket with the left gripper", + "subtask_index": 26 + }, + { + "subtask": "Place the yogurt into the basket with the right gripper", + "subtask_index": 27 + }, + { + "subtask": "Grasp the chocolate cake with the right gripper", + "subtask_index": 28 + }, + { + "subtask": "Place the round wooden block into the basket with the left gripper", + "subtask_index": 29 + }, + { + "subtask": "Place the back scratcher into the basket with the left gripper", + "subtask_index": 30 + }, + { + "subtask": "Grasp the shower sphere with the left gripper", + "subtask_index": 31 + }, + { + "subtask": "Grasp the yogurt with the right gripper", + "subtask_index": 32 + }, + { + "subtask": "Grasp the tin with the left gripper", + "subtask_index": 33 + }, + { + "subtask": "Grasp the brown towel with the left gripper", + "subtask_index": 34 + }, + { + "subtask": "Grasp the hard facial cleanser with the left gripper", + "subtask_index": 35 + }, + { + "subtask": "Grasp the brown towel with the right gripper", + "subtask_index": 36 + }, + { + "subtask": "Grasp the back scratcher with the left gripper", + "subtask_index": 37 + }, + { + "subtask": "Place the hard facial cleanser into the basket with the right gripper", + "subtask_index": 38 + }, + { + "subtask": "Grasp the hard facial cleanser with the right gripper", + "subtask_index": 39 + }, + { + "subtask": "Place the green lemon into the basket with the right gripper", + "subtask_index": 40 + }, + { + "subtask": "Place the banana into the basket with the right gripper", + "subtask_index": 41 + }, + { + "subtask": "Place the compasses into the basket with the right gripper", + "subtask_index": 42 + }, + { + "subtask": "Place the compasses into the basket with the left gripper", + "subtask_index": 43 + }, + { + "subtask": "Grasp the green lemon with the right gripper", + "subtask_index": 44 + }, + { + "subtask": "Grasp the bread slice with the right gripper", + "subtask_index": 45 + }, + { + "subtask": "Place the duck toy into the basket with the left gripper", + "subtask_index": 46 + }, + { + "subtask": "Place the chocolate cake into the basket with the right gripper", + "subtask_index": 47 + }, + { + "subtask": "Place the shower sphere into the basket with the right gripper", + "subtask_index": 48 + }, + { + "subtask": "Grasp the potato chips with the left gripper", + "subtask_index": 49 + }, + { + "subtask": "Grasp the duck toy with the right gripper", + "subtask_index": 50 + }, + { + "subtask": "End", + "subtask_index": 51 + }, + { + "subtask": "Place the cookie into the basket with the right gripper", + "subtask_index": 52 + }, + { + "subtask": "Place the tape into the basket with the right gripper", + "subtask_index": 53 + }, + { + "subtask": "Grasp the blackboard erasure with the left gripper", + "subtask_index": 54 + }, + { + "subtask": "Place the bread slice into the basket with the left gripper", + "subtask_index": 55 + }, + { + "subtask": "Grasp the coke with the left gripper", + "subtask_index": 56 + }, + { + "subtask": "Grasp the round wooden block with the left gripper", + "subtask_index": 57 + }, + { + "subtask": "Place the tape into the basket with the left gripper", + "subtask_index": 58 + }, + { + "subtask": "Place the blue cup into the basket with the left gripper", + "subtask_index": 59 + }, + { + "subtask": "Grasp the compasses with the left gripper", + "subtask_index": 60 + }, + { + "subtask": "Grasp the blue pot with the right gripper", + "subtask_index": 61 + }, + { + "subtask": "Grasp the round bread with the right gripper", + "subtask_index": 62 + }, + { + "subtask": "Grasp the chocolate cake with the left gripper", + "subtask_index": 63 + }, + { + "subtask": "Place the blue pot into the basket with the right gripper", + "subtask_index": 64 + }, + { + "subtask": "Grasp the tin with the right gripper", + "subtask_index": 65 + }, + { + "subtask": "Place the tin into the basket with the left gripper", + "subtask_index": 66 + }, + { + "subtask": "Grasp the tape with the right gripper", + "subtask_index": 67 + }, + { + "subtask": "Place the square chewing gum into the basket with the left gripper", + "subtask_index": 68 + }, + { + "subtask": "Place the bread slice into the basket with the right gripper", + "subtask_index": 69 + }, + { + "subtask": "Grasp the tape with the left gripper", + "subtask_index": 70 + }, + { + "subtask": "Place the blue cup into the basket with the right gripper", + "subtask_index": 71 + }, + { + "subtask": "Grasp the square chewing gum with the right gripper", + "subtask_index": 72 + }, + { + "subtask": "Grasp the shower sphere with the right gripper", + "subtask_index": 73 + }, + { + "subtask": "Place the chocolate cake into the basket with the left gripper", + "subtask_index": 74 + }, + { + "subtask": "Grasp the bread slice with the left gripper", + "subtask_index": 75 + }, + { + "subtask": "Grasp the blackboard erasure with the right gripper", + "subtask_index": 76 + }, + { + "subtask": "Place the round bread into the basket with the right gripper", + "subtask_index": 77 + }, + { + "subtask": "Grasp the round bread with the left gripper", + "subtask_index": 78 + }, + { + "subtask": "Grasp the square wooden block with the left gripper", + "subtask_index": 79 + }, + { + "subtask": "Place the brown towel into the basket with the left gripper", + "subtask_index": 80 + }, + { + "subtask": "Grasp the blue cup with the right gripper", + "subtask_index": 81 + }, + { + "subtask": "Grasp the square wooden block with the right gripper", + "subtask_index": 82 + }, + { + "subtask": "Place the square wooden block into the basket with the left gripper", + "subtask_index": 83 + }, + { + "subtask": "Place the tin into the basket with the right gripper", + "subtask_index": 84 + }, + { + "subtask": "Grasp the round wooden block with the right gripper", + "subtask_index": 85 + }, + { + "subtask": "Grasp the banana with the right gripper", + "subtask_index": 86 + }, + { + "subtask": "null", + "subtask_index": 87 } ], "atomic_actions": [ "grasp", - "lift", - "lower" + "pick", + "place" ], "robot_name": [ - "Agilex_Cobot_Magic" + "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_rgb", + "cam_head_left_rgb", + "cam_head_right_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" + "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": "radian", - "end_translation_dim": "meter", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -55969,30 +50988,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 49, - "total_frames": 13231, + "total_episodes": 102, + "total_frames": 18209, "fps": 30, - "total_tasks": 18, - "total_videos": 147, + "total_tasks": 88, + "total_videos": 408, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "189.68 MB" + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "899.78 MB" }, - "frame_num": 13231, - "dataset_size": "189.68 MB", - "data_structure": "Agilex_Cobot_Magic_storage_object_closest_apple_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 18209, + "dataset_size": "899.78 MB", + "data_structure": "Galaxea_R1_Lite_storage_object_brown_basket_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (90 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:48" + "train": "0:101" }, "features": { - "observation.images.cam_head_rgb": { + "observation.images.cam_head_left_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -56001,8 +51020,31 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "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, @@ -56014,8 +51056,8 @@ "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -56024,8 +51066,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -56037,8 +51079,8 @@ "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -56047,8 +51089,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -56060,7 +51102,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 26 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -56069,32 +51111,20 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_gripper_open", + "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ - 26 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -56103,26 +51133,14 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_gripper_open", + "right_gripper_open" ] }, "timestamp": { @@ -56162,17 +51180,17 @@ }, "subtask_annotation": { "names": null, - "dtype": "int32", "shape": [ 5 - ] + ], + "dtype": "int32" }, "scene_annotation": { "names": null, - "dtype": "int32", "shape": [ 1 - ] + ], + "dtype": "int32" }, "eef_sim_pose_state": { "names": [ @@ -56189,10 +51207,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_sim_pose_action": { "names": [ @@ -56209,130 +51227,130 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "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" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "gripper_mode_action": { "names": [ "left_gripper_mode", "right_gripper_mode" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "gripper_activity_state": { "names": [ "left_gripper_activity", "right_gripper_activity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "gripper_activity_action": { "names": [ "left_gripper_activity", "right_gripper_activity" ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", "shape": [ 2 - ] - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" ], - "dtype": "float32", - "shape": [ - 2 - ] + "dtype": "int32" } }, "authors": { @@ -56354,9 +51372,9 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "Galaxea_R1_Lite_storage_object_dish": { + "Agilex_Cobot_Magic_fold_towel_pink_tray": { "task_categories": [ "robotics" ], @@ -56386,11 +51404,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_storage_object_dish", + "dataset_name": "Agilex_Cobot_Magic_fold_towel_pink_tray", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { "level1": "household", - "level2": "living_room", + "level2": "kitchen", "level3": null, "level4": null, "level5": null @@ -56398,615 +51416,637 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "dish", - "level1": "plates", - "level2": "dish", + "object_name": "table", + "level1": "home_storage", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "banana", - "level1": "fruits", - "level2": "banana", + "object_name": "green_tray", + "level1": "kitchen_supplies", + "level2": "green_tray", "level3": null, "level4": null, "level5": null }, { - "object_name": "bathing_in_flowers", + "object_name": "pink_square_towel", "level1": "daily_necessities", - "level2": "bathing_in_flowers", + "level2": "pink_square_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": [ + "use both grippers to hold the edge of the towel and fold it forward.,use the right gripper to hold the right edge and fold it again,use a gripper to place the folded towel on the tray." + ], + "sub_tasks": [ + { + "subtask": "Fold the pink towel upwards", + "subtask_index": 0 }, { - "object_name": "blue_cup", - "level1": "cups", - "level2": "blue_cup", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 1 }, { - "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 + "subtask": "Place the folded pink towel on the tray with the left gripper", + "subtask_index": 2 }, { - "object_name": "brown_towel", - "level1": "towels", - "level2": "brown_towel", - "level3": null, - "level4": null, - "level5": null + "subtask": "Fold the pink towel from right to left with right gripper", + "subtask_index": 3 }, { - "object_name": "can", - "level1": "snacks", - "level2": "can", - "level3": null, - "level4": null, - "level5": null + "subtask": "null", + "subtask_index": 4 + } + ], + "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": 63678, + "fps": 30, + "total_tasks": 5, + "total_videos": 150, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "766.05 MB" + }, + "frame_num": 63678, + "dataset_size": "766.05 MB", + "data_structure": "Agilex_Cobot_Magic_fold_towel_pink_tray_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "coke", - "level1": "beverages", - "level2": "coke", - "level3": null, - "level4": null, - "level5": null + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "potato_chips", - "level1": "snacks", - "level2": "potato_chips", - "level3": null, - "level4": null, - "level5": null + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "chocolate", - "level1": "snacks", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] }, - { - "object_name": "compass", - "level1": "stationery", - "level2": "compass", - "level3": null, - "level4": null, - "level5": null + "action": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] }, - { - "object_name": "block_pillar", - "level1": "toys", - "level2": "block_pillar", - "level3": null, - "level4": null, - "level5": null + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "egg_beater", - "level1": "kitchen_supplies", - "level2": "egg_beater", - "level3": null, - "level4": null, - "level5": null + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "eraser", - "level1": "stationery", - "level2": "eraser", - "level3": null, - "level4": null, - "level5": null + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "chewing_gum", - "level1": "snacks", - "level2": "chewing_gum", - "level3": null, - "level4": null, - "level5": null + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "mentholatum_facial_cleanser", - "level1": "daily_chemical_products", - "level2": "mentholatum_facial_cleanser", - "level3": null, - "level4": null, - "level5": null + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "green_lemon", - "level1": "fruits", - "level2": "green_lemon", - "level3": null, - "level4": null, - "level5": null + "subtask_annotation": { + "names": null, + "dtype": "int32", + "shape": [ + 5 + ] }, - { - "object_name": "peach", - "level1": "fruits", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null + "scene_annotation": { + "names": null, + "dtype": "int32", + "shape": [ + 1 + ] }, - { - "object_name": "power_strip", - "level1": "electrical_control_equipment", - "level2": "power_strip", - "level3": null, - "level4": null, - "level5": null + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "dtype": "float32", + "shape": [ + 12 + ] }, - { - "object_name": "round_bread", - "level1": "bread", - "level2": "round_bread", - "level3": null, - "level4": null, - "level5": null + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "dtype": "float32", + "shape": [ + 12 + ] }, - { - "object_name": "mentholatum_facial_cleanser", - "level1": "daily_chemical_products", - "level2": "mentholatum_facial_cleanser", - "level3": null, - "level4": null, - "level5": null + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "square_building_blocks", - "level1": "toys", - "level2": "square_building_blocks", - "level3": null, - "level4": null, - "level5": null + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "tape", - "level1": "stationery", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "cake", - "level1": "bread", - "level2": "cake", - "level3": null, - "level4": null, - "level5": null + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "duck", - "level1": "doll", - "level2": "duck", - "level3": null, - "level4": null, - "level5": null + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "object_name": "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 dish." - ], - "sub_tasks": [ - { - "subtask": "Grasp the blue pot with the left gripper", - "subtask_index": 0 + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "subtask": "Place the back scratcher on the dish with the right gripper", - "subtask_index": 1 + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "subtask": "Grasp the plugboard with the left gripper", - "subtask_index": 2 + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "subtask": "Place the soft facial cleanser on the dish with the right gripper", - "subtask_index": 3 - }, - { - "subtask": "Grasp the potato chips with the right gripper", - "subtask_index": 4 - }, - { - "subtask": "Grasp the banana with the left gripper", - "subtask_index": 5 - }, - { - "subtask": "Grasp the compasses with the right gripper", - "subtask_index": 6 - }, - { - "subtask": "Grasp the duck toy with the left gripper", - "subtask_index": 7 - }, - { - "subtask": "Place the round bread on the dish with the left gripper", - "subtask_index": 8 - }, - { - "subtask": "Grasp the blue cup with the left gripper", - "subtask_index": 9 - }, - { - "subtask": "Place the compasses on the dish with the right gripper", - "subtask_index": 10 - }, - { - "subtask": "Place the duck toy on the dish with the right gripper", - "subtask_index": 11 - }, - { - "subtask": "Place the round wooden block on the dish with the right gripper", - "subtask_index": 12 - }, - { - "subtask": "Place the green lemon on the dish with the right gripper", - "subtask_index": 13 - }, - { - "subtask": "Grasp the back scratcher with the right gripper", - "subtask_index": 14 - }, - { - "subtask": "Grasp the square chewing gum with the left gripper", - "subtask_index": 15 - }, - { - "subtask": "Grasp the chocolate cake with the right gripper", - "subtask_index": 16 - }, - { - "subtask": "Grasp the shower sphere with the left gripper", - "subtask_index": 17 - }, - { - "subtask": "Place the peach on the dish with the left gripper", - "subtask_index": 18 - }, - { - "subtask": "Grasp the plugboard with the right gripper", - "subtask_index": 19 - }, - { - "subtask": "Grasp the tin with the left gripper", - "subtask_index": 20 - }, - { - "subtask": "Grasp the brown towel with the left gripper", - "subtask_index": 21 - }, - { - "subtask": "Place the brown towel on the dish with the right gripper", - "subtask_index": 22 - }, - { - "subtask": "Grasp the hard facial cleanser with the left gripper", - "subtask_index": 23 - }, - { - "subtask": "Place the plugboard on the dish with the right gripper", - "subtask_index": 24 + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "subtask": "Grasp the peach with the right gripper", - "subtask_index": 25 + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "dtype": "int32", + "shape": [ + 2 + ] }, - { - "subtask": "Grasp the brown towel with the right gripper", - "subtask_index": 26 + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "Agilex_Cobot_Magic_fold_towel": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ { - "subtask": "Place the coke on the dish with the right gripper", - "subtask_index": 27 + "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_towel", + "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": [ { - "subtask": "Place the banana on the dish with the left gripper", - "subtask_index": 28 + "object_name": "table", + "level1": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the peach on the dish with the right gripper", - "subtask_index": 29 + "object_name": "white_towel", + "level1": "daily_necessities", + "level2": "white_towel", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the hard facial cleanser with the right gripper", - "subtask_index": 30 - }, + "object_name": "orange_towel", + "level1": "daily_necessities", + "level2": "orange_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": [ + "fold the towels on the table." + ], + "sub_tasks": [ { - "subtask": "Place the potato chips on the dish with the right gripper", - "subtask_index": 31 + "subtask": "Fold the white towel upwards with the right gripper", + "subtask_index": 0 }, { - "subtask": "Grasp the peach with the left gripper", - "subtask_index": 32 + "subtask": "Grasp the orange towel with the left gripper", + "subtask_index": 1 }, { - "subtask": "Grasp the green lemon with the right gripper", - "subtask_index": 33 + "subtask": "Grasp the orange towel with the right gripper", + "subtask_index": 2 }, { - "subtask": "Place the chocolate cake on the dish with the right gripper", - "subtask_index": 34 + "subtask": "Fold the orange towel upwards with the right gripper", + "subtask_index": 3 }, { - "subtask": "Place the plugboard on the dish with the left gripper", - "subtask_index": 35 + "subtask": "Fold the white towel upwards with the left gripper", + "subtask_index": 4 }, { - "subtask": "Grasp the bread slice with the right gripper", - "subtask_index": 36 + "subtask": "Fold the orange towel from right to left with right gripper", + "subtask_index": 5 }, { - "subtask": "Place the square chewing gum on the dish with the right gripper", - "subtask_index": 37 + "subtask": "Press on the orange towel with the left gripper", + "subtask_index": 6 }, { - "subtask": "Grasp the duck toy with the right gripper", - "subtask_index": 38 + "subtask": "Fold the white towel from right to left with right gripper", + "subtask_index": 7 }, { "subtask": "End", - "subtask_index": 39 - }, - { - "subtask": "Place the blackboard erasure on the dish with the left gripper", - "subtask_index": 40 - }, - { - "subtask": "Grasp the blackboard erasure with the left gripper", - "subtask_index": 41 - }, - { - "subtask": "Grasp the coke with the left gripper", - "subtask_index": 42 - }, - { - "subtask": "Place the tape on the dish with the right gripper", - "subtask_index": 43 - }, - { - "subtask": "Place the bread slice on the dish with the right gripper", - "subtask_index": 44 - }, - { - "subtask": "Place the shower sphere on the dish with the right gripper", - "subtask_index": 45 - }, - { - "subtask": "Grasp the round wooden block with the left gripper", - "subtask_index": 46 - }, - { - "subtask": "Grasp the compasses with the left gripper", - "subtask_index": 47 - }, - { - "subtask": "Place the banana on the dish with the right gripper", - "subtask_index": 48 - }, - { - "subtask": "Grasp the blue pot with the right gripper", - "subtask_index": 49 - }, - { - "subtask": "Grasp the round bread with the right gripper", - "subtask_index": 50 - }, - { - "subtask": "Grasp the chocolate cake with the left gripper", - "subtask_index": 51 - }, - { - "subtask": "Place the square chewing gum on the dish with the left gripper", - "subtask_index": 52 - }, - { - "subtask": "Place the blue cup on the dish with the right gripper", - "subtask_index": 53 - }, - { - "subtask": "Place the hard facial cleanser on the dish with the right gripper", - "subtask_index": 54 - }, - { - "subtask": "Place the blue cup on the dish with the left gripper", - "subtask_index": 55 - }, - { - "subtask": "Grasp the tape with the right gripper", - "subtask_index": 56 - }, - { - "subtask": "Place the duck toy on the dish with the left gripper", - "subtask_index": 57 - }, - { - "subtask": "Grasp the coke with the right gripper", - "subtask_index": 58 - }, - { - "subtask": "Place the square wooden block on the dish with the right gripper", - "subtask_index": 59 - }, - { - "subtask": "Grasp the square chewing gum with the right gripper", - "subtask_index": 60 - }, - { - "subtask": "Place the round bread on the dish with the right gripper", - "subtask_index": 61 - }, - { - "subtask": "Grasp the shower sphere with the right gripper", - "subtask_index": 62 - }, - { - "subtask": "Place the brown towel on the dish with the left gripper", - "subtask_index": 63 - }, - { - "subtask": "Place the bread slice on the dish with the left gripper", - "subtask_index": 64 - }, - { - "subtask": "Grasp the bread slice with the left gripper", - "subtask_index": 65 - }, - { - "subtask": "Grasp the yogurt with the left gripper", - "subtask_index": 66 - }, - { - "subtask": "Place the blue pot on the dish with the left gripper", - "subtask_index": 67 - }, - { - "subtask": "Grasp the blackboard erasure with the right gripper", - "subtask_index": 68 - }, - { - "subtask": "Place the coke on the dish with the left gripper", - "subtask_index": 69 - }, - { - "subtask": "Place the square wooden block on the dish with the left gripper", - "subtask_index": 70 - }, - { - "subtask": "Place the yogurt on the dish with the left gripper", - "subtask_index": 71 - }, - { - "subtask": "Place the chocolate cake on the dish with the left gripper", - "subtask_index": 72 - }, - { - "subtask": "Place the compasses on the dish with the left gripper", - "subtask_index": 73 - }, - { - "subtask": "Place the round wooden block on the dish with the left gripper", - "subtask_index": 74 - }, - { - "subtask": "Place the chocolate on the dish with the left gripper", - "subtask_index": 75 - }, - { - "subtask": "Grasp the round bread with the left gripper", - "subtask_index": 76 - }, - { - "subtask": "Grasp the chocolate with the left gripper", - "subtask_index": 77 - }, - { - "subtask": "Grasp the square wooden block with the left gripper", - "subtask_index": 78 - }, - { - "subtask": "Grasp the blue cup with the right gripper", - "subtask_index": 79 - }, - { - "subtask": "Grasp the soft facial cleanser with the right gripper", - "subtask_index": 80 - }, - { - "subtask": "Place the shower sphere on the dish with the left gripper", - "subtask_index": 81 - }, - { - "subtask": "Place the tin on the dish with the left gripper", - "subtask_index": 82 - }, - { - "subtask": "Grasp the square wooden block with the right gripper", - "subtask_index": 83 + "subtask_index": 8 }, { - "subtask": "Place the hard facial cleanser on the dish with the left gripper", - "subtask_index": 84 + "subtask": "Arrange the orange towel with the right hand", + "subtask_index": 9 }, { - "subtask": "Place the blackboard erasure on the dish with the right gripper", - "subtask_index": 85 + "subtask": "Grasp the white towel with the right gripper", + "subtask_index": 10 }, { - "subtask": "Place the blue pot on the dish with the right gripper", - "subtask_index": 86 + "subtask": "Fold the orange towel upwards with the left gripper", + "subtask_index": 11 }, { - "subtask": "Grasp the round wooden block with the right gripper", - "subtask_index": 87 + "subtask": "Grasp the white towel with the left gripper", + "subtask_index": 12 }, { - "subtask": "Grasp the banana with the right gripper", - "subtask_index": 88 + "subtask": "Press on the white towel with the left gripper", + "subtask_index": 13 }, { "subtask": "null", - "subtask_index": 89 + "subtask_index": 14 } ], "atomic_actions": [ "grasp", - "pick", - "place" + "fold", + "lift", + "lower" ], "robot_name": [ - "Galaxea_R1_Lite" + "Agilex_Cobot_Magic" ], "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_left_rgb", - "cam_head_right_rgb", + "cam_head_rgb", "cam_left_wrist_rgb", "cam_right_wrist_rgb" ], "came_info": { - "cam_head_left_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_head_right_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p" + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -57017,30 +52057,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 101, - "total_frames": 26346, + "total_episodes": 100, + "total_frames": 76161, "fps": 30, - "total_tasks": 90, - "total_videos": 404, + "total_tasks": 15, + "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, - "camera_views": 4, - "dataset_size": "993.15 MB" + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "834.61 MB" }, - "frame_num": 26346, - "dataset_size": "993.15 MB", - "data_structure": "Galaxea_R1_Lite_storage_object_dish_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (89 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 76161, + "dataset_size": "834.61 MB", + "data_structure": "Agilex_Cobot_Magic_fold_towel_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:100" + "train": "0:99" }, "features": { - "observation.images.cam_head_left_rgb": { + "observation.images.cam_head_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -57049,8 +52089,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -57059,11 +52099,11 @@ "has_audio": false } }, - "observation.images.cam_head_right_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -57072,8 +52112,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -57082,11 +52122,11 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -57095,8 +52135,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -57105,33 +52145,10 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", + "observation.state": { + "dtype": "float32", "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 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -57140,20 +52157,32 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ - 14 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -57162,14 +52191,26 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "timestamp": { @@ -57321,26 +52362,6 @@ ], "dtype": "int32" }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, "gripper_mode_state": { "names": [ "left_gripper_mode", @@ -57380,6 +52401,26 @@ 2 ], "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] } }, "authors": { @@ -57401,9 +52442,9 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "Agilex_Cobot_Magic_close_drawer_upper": { + "Airbot_MMK2_sweep_peaper": { "task_categories": [ "robotics" ], @@ -57433,11 +52474,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_close_drawer_upper", + "dataset_name": "Airbot_MMK2_sweep_peaper", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "office_workspace", - "level2": "office", + "level1": "household", + "level2": "living_room", "level3": null, "level4": null, "level5": null @@ -57445,17 +52486,25 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "table", - "level1": "home_storage", - "level2": "table", + "object_name": "paper_all", + "level1": "trash_bag", + "level2": "paper_all", "level3": null, "level4": null, "level5": null }, { - "object_name": "three_layer_transparent_drawer", - "level1": "laboratory_supplies", - "level2": "three-layer_transparent_drawer", + "object_name": "small_broom", + "level1": "cleaning_supplies", + "level2": "small_broom", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "dustpan", + "level1": "cleaning_supplies", + "level2": "dustpan", "level3": null, "level4": null, "level5": null @@ -57463,58 +52512,70 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "close the upper drawer." + "hold the dustpan with left hand and the broom with right hand, and sweep the paper ball into the dustpan." ], "sub_tasks": [ { - "subtask": "Use the right gripper to touch the topmost layer of the storage cabinet", + "subtask": "Place the broom on the table with the right gripper", "subtask_index": 0 }, { - "subtask": "Push the top drawer closed", + "subtask": "End", "subtask_index": 1 }, { - "subtask": "Use the right gripper to contact the middle shelf of the cabinet", + "subtask": "Grasp the broom from the table with the right gripper", "subtask_index": 2 }, { - "subtask": "End", + "subtask": "Grasp the dustpan from the table with the left gripper", "subtask_index": 3 }, { - "subtask": "Push the middle drawer closed", + "subtask": "Place the dustpan on the table with the left gripper", "subtask_index": 4 }, { - "subtask": "null", + "subtask": "Abnormal", "subtask_index": 5 + }, + { + "subtask": "Sweep the waste paper into the dustpan", + "subtask_index": 6 + }, + { + "subtask": "null", + "subtask_index": 7 } ], "atomic_actions": [ "grasp", + "pick", + "place", "push" ], "robot_name": [ - "Agilex_Cobot_Magic" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "end_effector_type": "five_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "cam_right_wrist_rgb", + "cam_front_rgb" ], "came_info": { "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "radian", - "end_translation_dim": "meter", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -57525,23 +52586,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 173, - "total_frames": 49994, + "total_episodes": 98, + "total_frames": 43106, "fps": 30, - "total_tasks": 6, - "total_videos": 519, + "total_tasks": 8, + "total_videos": 392, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "522.40 MB" + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "1.75 GB" }, - "frame_num": 49994, - "dataset_size": "522.40 MB", - "data_structure": "Agilex_Cobot_Magic_close_drawer_upper_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (161 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 43106, + "dataset_size": "1.75 GB", + "data_structure": "Airbot_MMK2_sweep_peaper_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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": "0:172" + "train": "0:97" }, "features": { "observation.images.cam_head_rgb": { @@ -57613,10 +52674,33 @@ "has_audio": false } }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, "observation.state": { "dtype": "float32", "shape": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -57625,32 +52709,42 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" ] }, "action": { "dtype": "float32", "shape": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -57659,26 +52753,36 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" ] }, "timestamp": { @@ -57829,66 +52933,6 @@ 2 ], "dtype": "int32" - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", - "shape": [ - 2 - ] } }, "authors": { @@ -57910,11 +52954,11 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Cobot_Magic_pour_water_bottle": { - "path": "Cobot_Magic_pour_water_bottle", - "dataset_name": "pour_water_bottle", + "Split_aloha_basket_storage_orange": { + "path": "Split_aloha_basket_storage_orange", + "dataset_name": "basket_storage_orange", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -57922,11 +52966,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "pour", - "place" + "place", + "pick" ], - "tasks": "End", + "tasks": "Place the basket in the center of view with left gripper", "objects": [ { "object_name": "table", @@ -57937,43 +52980,35 @@ "level5": null }, { - "object_name": "bottle", - "level1": "container", - "level2": "bottle", + "object_name": "orange", + "level1": "fruit", + "level2": "orange", "level3": null, "level4": null, "level5": null }, { - "object_name": "cup", + "object_name": "basket", "level1": "container", - "level2": "cup", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "water", - "level1": "drink", - "level2": "water", + "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-43905", - "dataset_size": "1.1GB", + "frame_range": "0-293847", + "dataset_size": "6.1GB", "statistics": { - "total_episodes": 92, - "total_frames": 43905, + "total_episodes": 642, + "total_frames": 293847, "total_tasks": 1, - "total_videos": 276, + "total_videos": 1926, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "e375b064-04ad-4cb8-a8d4-d0994c11fa75", + "dataset_uuid": "f478bc5f-0850-4241-9c9b-cea1674f8e67", "language": [ "en", "zh" @@ -57982,14 +53017,13 @@ "robotics" ], "sub_tasks": [ + "Place the basket in the center of view with left gripper", + "Place the orange in the basket with right gripper", + "Grasp the orange with right gripper", + "Grasp the basket with left gripper", "End", - "Grasp the mineral water bottle", - "Pour water into the cup", - "Anomaly", "Abnormal", - "Pour water into the teacup", - "Place the water bottle", - "Pick up the water bottle", + "Static", "null" ], "annotations": { @@ -58027,404 +53061,531 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_pour_water_bottle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_pour_water_bottle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Split_aloha_basket_storage_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_basket_storage_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_desktop_organization": { - "path": "Cobot_Magic_desktop_organization", - "dataset_name": "desktop_organization", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" + "Airbot_MMK2_storge_cake_ice_cream": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" ], - "tasks": "Hand over the waste paper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "waste_paper", - "level1": "garbage", - "level2": "waste_paper", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "basket", - "level1": "container", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "knife", - "level1": "office_supplies", - "level2": "knife", - "level3": null, - "level4": null, - "level5": null - }, + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ { - "object_name": "ruler", - "level1": "office_supplies", - "level2": "ruler", - "level3": null, - "level4": null, - "level5": null + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_storge_cake_ice_cream", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "kitchen", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ { - "object_name": "bread", + "object_name": "cake", "level1": "food", - "level2": "bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "small_pieces_of_paper", - "level1": "garbage", - "level2": "small_pieces_of_paper", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "coffee", - "level1": "drink", - "level2": "coffee", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pencil_sharpener", - "level1": "office_supplies", - "level2": "pencil_sharpener", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "grape", - "level1": "fruit", - "level2": "grape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plastic_sheet", - "level1": "garbage", - "level2": "plastic_sheet", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "teacup", - "level1": "container", - "level2": "teacup", + "level2": "cake", "level3": null, "level4": null, "level5": null }, { - "object_name": "colored_glue", - "level1": "office_supplies", - "level2": "colored_glue", + "object_name": "ice_cream", + "level1": "food", + "level2": "ice_cream", "level3": null, "level4": null, "level5": null }, { - "object_name": "scissor", - "level1": "office_supplies", - "level2": "scissor", + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "mango", - "level1": "fruit", - "level2": "mango", + "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": [ + "hold the cake in left hand and the ice cream in right hand at the same time. put the cake into the bowl and place the ice cream on the plate." + ], + "sub_tasks": [ { - "object_name": "fruit_tray", - "level1": "container", - "level2": "fruit_tray", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the ice cream into the plate with the right gripper", + "subtask_index": 0 }, { - "object_name": "paper_ball", - "level1": "garbage", - "level2": "paper_ball", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the ice cream with the right gripper", + "subtask_index": 1 }, { - "object_name": "garbage_bin", - "level1": "container", - "level2": "garbage_bin", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the cake with the left gripper", + "subtask_index": 2 }, { - "object_name": "water_bottle", - "level1": "container", - "level2": "water_bottle", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the cake into the bowl with the left gripper", + "subtask_index": 3 }, { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", - "level3": null, - "level4": null, - "level5": null + "subtask": "Static", + "subtask_index": 4 }, { - "object_name": "pen_holder", - "level1": "garbage", - "level2": "spitball", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the cake from the table and with the left gripper", + "subtask_index": 5 }, { - "object_name": "cola", - "level1": "drink", - "level2": "cola", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 6 }, { - "object_name": "milk", - "level1": "drink", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null + "subtask": "null", + "subtask_index": 7 } ], - "operation_platform_height": 77.2, - "frame_range": "0-2026628", - "dataset_size": "32.3GB", - "statistics": { - "total_episodes": 1070, - "total_frames": 2026628, - "total_tasks": 6, - "total_videos": 3210, - "total_chunks": 2, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "32b7ba5a-b7c4-475c-8bcc-6b60402acd24", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Airbot_MMK2" ], - "sub_tasks": [ - "Hand over the waste paper", - "Place the red pencil sharpener into the pen holder", - "place the silver glue into the pen holder", - "Place the cola can in the basket with left gripper", - "Place the waste paper in the basket with left gripper", - "Place the eraser in pen holder with left gripper", - "Grasp the waste paper with right gripper", - "Place the pear in the plate", - "Static", - "Hand over the plastic", - "Grasp the bottle with left gripper", - "pick up the ruler", - "Place the black pen in pen holder with left gripper", - "Grasp the banana with left gripper", - "Pick up the banana", - "Hand over the banana", - "Pick up the pen with right arm", - "Place the cola can in the basket with right gripper", - "Hand over the grapes", - "Place the basket on the table with right gripper", - "Pick up the red pencil sharpener", - "Stand the bottle with left gripper", - "Pick up the waste paper", - "Grasp the blue pen with left gripper", - "pick up the yellow knife", - "Place the eraser into the pen holder", - "Place the black pen in pen holder with right gripper", - "Place the gray pen in pen holder with right gripper", - "Place the gray pen in pen holder with left gripper", - "Place the milk in the basket with right gripper", - "pick up the red glue", - "Hand over the yellow glue", - "Hand over the bottle", - "Place the plastic in the basket", - "Pick up the grapes", - "pick up the pink scissors", - "pick up the silver glue", - "Abnormal", - "Place the blue pen in pen holder with right gripper", - "Place the blue pen in pen holder with left gripper", - "Place the yellow pen in pen holder with right gripper", - "Grasp the cola can with right gripper", - "Grasp the mango with left gripper", - "Grasp the black pen with left gripper", - "Grasp the blue pen with right gripper", - "Grasp the eraser with right gripper", - "Pick up the plastic", - "Place the waste paper in the basket with right gripper", - "Grasp the cola can with left gripper", - "Place the cola can on the table with left gripper", - "Pick up the eraser", - "Grasp the waste paper with left gripper", - "Grasp the yellow pen with right gripper", - "Place the pink scissors into the pen holder", - "Lift the basket with left gripper", - "Pick up the bottle with the right arm", - "Hand over the bread", - "Place the grapes in the plate", - "transfer the pen to the left arm", - "transfer the bottle to the left arm", - "Hand over the red glue", - "End", - "Hand over the yellow knife", - "Hand over the ruler", - "Place the blue scissors into the pen holder", - "Place the yellow pen in pen holder with left gripper", - "Hand over the blue knife", - "Place the pen into the pen holder", - "Pick up the pear", - "transfer the pen to the right arm", - "Place the blue knife into the pen holder", - "Place the mango in the plate with left gripper", - "pick up the yellow glue", - "Hand over the pear", - "Place the blue pencil sharpener into the pen holder", - "Grasp the black pen with right gripper", - "Hand over the pink scissors", - "Pick up the bottle with the left arm", - "Grasp the gray pen with right gripper", - "Grasp the eraser with left gripper", - "Place the eraser in pen holder with right gripper", - "Grasp the basket with left gripper", - "Pick up the pen with left arm", - "Pick up the blue pencil sharpener", - "pick up the bread", - "Hand over the pen", - "Place the milk in the basket with left gripper", - "place the red glue into the pen holder", - "Place the banana in the plate with left gripper", - "Hand the basket to the right gripper with the left gripper", - "place the bread in the plate", - "Grasp the yellow pen with left gripper", - "Hand over the blue scissors", - "place the yellow glue into the pen holder", - "pick up the blue knife", - "Place the cola can on the table with right gripper", - "Place the bottle", - "Grasp the gray pen with left gripper", - "Place the ruler into the pen holder", - "pick up the blue scissors", - "Grasp the milk with right gripper", - "Place the banana in the plate", - "Grasp the milk with left gripper", - "Place the basket on the table with left gripper", - "Hand over the silver glue", - "Place the waste paper in the basket", - "place the yellow knife into the pen holder", - "null" + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 48, + "total_frames": 8733, + "fps": 30, + "total_tasks": 8, + "total_videos": 192, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "351.41 MB" + }, + "frame_num": 8733, + "dataset_size": "351.41 MB", + "data_structure": "Airbot_MMK2_storge_cake_ice_cream_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (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", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", - "structure": "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "AgiBot-g1_box_storage_a": { - "path": "AgiBot-g1_box_storage_a", - "dataset_name": "box_storage_a", + "R1_Lite_build_blocks": { + "path": "R1_Lite_build_blocks", + "dataset_name": "build_blocks", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -58435,7 +53596,7 @@ "place", "pick" ], - "tasks": "Place the mouse and the power cord paper box into the container.", + "tasks": "Place the arch-shaped block in the center of view with the left gripper", "objects": [ { "object_name": "table", @@ -58446,27 +53607,27 @@ "level5": null }, { - "object_name": "box", - "level1": "container", - "level2": "box", + "object_name": "blocks", + "level1": "toy", + "level2": "blocks", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-11770", - "dataset_size": "4.8GB", + "operation_platform_height": 77.2, + "frame_range": "0-59296", + "dataset_size": "1.8GB", "statistics": { - "total_episodes": 21, - "total_frames": 11770, + "total_episodes": 66, + "total_frames": 59296, "total_tasks": 1, - "total_videos": 168, + "total_videos": 264, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "a1e4a24d-cfb7-4719-a86c-d455555bc395", + "dataset_uuid": "a56eff90-9eaa-4804-91c6-27e733d07c46", "language": [ "en", "zh" @@ -58475,8 +53636,14 @@ "robotics" ], "sub_tasks": [ - "Place the mouse and the power cord paper box into the container.", - "Pick up the mouse and the power cord paper box.", + "Place the arch-shaped block in the center of view with the left gripper", + "Grasp the arch-shaped block with the left gripper", + "Place the triangle-shaped block onto the box-shaped block with the left grippe", + "Grasp the box-shaped block with the right gripper", + "Place the box-shaped block onto the arch-shaped block with the right gripper", + "Static", + "End", + "Grasp the triangle-shaped block with the left gripper", "null" ], "annotations": { @@ -58514,61 +53681,53 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_box_storage_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_box_storage_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_build_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_build_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "alpha_bot_2_press_the_button_b": { - "path": "alpha_bot_2_press_the_button_b", - "dataset_name": "press_the_button_b", + "G1edu-u3_pick_empty_bottle_ab": { + "path": "G1edu-u3_pick_empty_bottle_ab", + "dataset_name": "pick_empty_bottle_ab", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ - "pressbutton", - "push" + "grasp", + "pick" ], - "tasks": "Touch the bottle with left gripper", + "tasks": "End", "objects": [ { - "object_name": "mineral_water", - "level1": "drinks", - "level2": "mineral_water", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "button", - "level1": "toy", - "level2": "button", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "empty_bottle", + "level1": "mineral_water", + "level2": "empty_bottle", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-50921", - "dataset_size": "943.7MB", + "frame_range": "0-3290", + "dataset_size": "45.4MB", "statistics": { - "total_episodes": 65, - "total_frames": 50921, + "total_episodes": 11, + "total_frames": 3290, "total_tasks": 1, - "total_videos": 260, + "total_videos": 11, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 11, "fps": 30 }, - "dataset_uuid": "627d6f91-a0ba-46b7-96dd-616242c3a6af", + "dataset_uuid": "e8eb32c9-9e05-4189-9718-badce6a3ac0b", "language": [ "en", "zh" @@ -58577,11 +53736,10 @@ "robotics" ], "sub_tasks": [ - "Touch the bottle with left gripper", "End", - "Move the bottle away with right gripper", + "Grasp the cola bottle and lift it to the center of the view with right gripper ", + "Grasp the cola bottle and lift it to the center of the view with left gripper  ", "Abnormal", - "Press the button with right gripper", "null" ], "annotations": { @@ -58619,12 +53777,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "alpha_bot_2_press_the_button_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "alpha_bot_2_press_the_button_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pick_empty_bottle_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_empty_bottle_ab_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AgiBot-g1_box_storage_tool": { - "path": "AgiBot-g1_box_storage_tool", - "dataset_name": "box_storage_tool", + "R1_Lite_open_and_close_microwave_oven": { + "path": "R1_Lite_open_and_close_microwave_oven", + "dataset_name": "open_and_close_microwave_oven", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -58633,48 +53791,51 @@ "atomic_actions": [ "grasp", "pick", - "place" + "place", + "push", + "pull", + "pressbutton" ], - "tasks": "End", + "tasks": "Put the microwave back in its original place", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "french_fries", + "level1": "food", + "level2": "french_fries", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "tool", - "level1": "tool", - "level2": "tool", + "object_name": "microwave", + "level1": "electric_appliance", + "level2": "microwave", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-32860", - "dataset_size": "1.2GB", + "frame_range": "0-183612", + "dataset_size": "7.7GB", "statistics": { - "total_episodes": 99, - "total_frames": 32860, + "total_episodes": 117, + "total_frames": 183612, "total_tasks": 1, - "total_videos": 297, + "total_videos": 351, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "4ed6d684-19e6-4881-9b9f-eabbb1a6789d", + "dataset_uuid": "1b797b37-4aab-43be-9f02-cfcf030be8ff", "language": [ "en", "zh" @@ -58683,10 +53844,11 @@ "robotics" ], "sub_tasks": [ - "End", - "Abnormal", - "Grasp the data cable", - "Place the data cable in the another box", + "Put the microwave back in its original place", + "Take the plate out of the microwave", + "Close the microwave oven", + "Open the microwave oven", + "Put the plate in the microwave oven", "null" ], "annotations": { @@ -58724,23 +53886,22 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_box_storage_tool_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_box_storage_tool_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_open_and_close_microwave_oven_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_move_the_position_of_the_duck": { - "path": "R1_Lite_move_the_position_of_the_duck", - "dataset_name": "move_the_position_of_the_duck", + "Cobot_Magic_pull_zipper": { + "path": "Cobot_Magic_pull_zipper", + "dataset_name": "pull_zipper", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "place", - "pick", - "grasp" + "grasp", + "pull" ], - "tasks": "Grasp the red duck with right gripper", + "tasks": "Pull the zipper with right gripper", "objects": [ { "object_name": "table", @@ -58751,355 +53912,27 @@ "level5": null }, { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bath_ball", - "level1": "daily_necessities", - "level2": "bath_ball", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "can", - "level1": "container", - "level2": "can", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "hard_cleanser", - "level1": "daily_necessities", - "level2": "hard_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peeler", - "level1": "tool", - "level2": "peeler", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "block", - "level1": "toy", - "level2": "block", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "duck", - "level1": "toy", - "level2": "duck", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soap", - "level1": "daily_necessities", - "level2": "soap", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "basket", - "level1": "container", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cola", - "level1": "drink", - "level2": "cola", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "detergent", - "level1": "daily_necessities", - "level2": "detergent", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_beater", - "level1": "electrical_appliances", - "level2": "egg_beater", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "marker", - "level1": "office_supplies", - "level2": "marker", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rubiks_cube", - "level1": "toy", - "level2": "rubiks_cube", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread_slice", - "level1": "food", - "level2": "bread_slice", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "brush", - "level1": "daily_necessities", - "level2": "brush", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yogurt", - "level1": "drink", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "power_strip", - "level1": "electric_appliance", - "level2": "power_strip", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "milk", - "level1": "drink", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soda", - "level1": "drink", - "level2": "soda", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lime", - "level1": "fruit", - "level2": "lime", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "coffee_capsule", - "level1": "drink", - "level2": "coffee_capsule", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "dish", + "object_name": "bag", "level1": "container", - "level2": "dish", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glass", - "level1": "furniture", - "level2": "glass", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "gum", - "level1": "daily_necessities", - "level2": "gum", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tape", - "level1": "daily_necessities", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soft_cleanser", - "level1": "daily_necessities", - "level2": "soft_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chips", - "level1": "food", - "level2": "chips", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", + "level2": "bag", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-12223", - "dataset_size": "348.2MB", + "frame_range": "0-836317", + "dataset_size": "11.0GB", "statistics": { - "total_episodes": 40, - "total_frames": 12223, - "total_tasks": 1, - "total_videos": 160, - "total_chunks": 1, + "total_episodes": 1868, + "total_frames": 836317, + "total_tasks": 6, + "total_videos": 5604, + "total_chunks": 2, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "da6ac6c0-2744-4f18-98b8-d87cbfcc8ce1", + "dataset_uuid": "3ede76ea-63fb-4de1-a796-a3809b4e09fa", "language": [ "en", "zh" @@ -59108,13 +53941,19 @@ "robotics" ], "sub_tasks": [ - "Grasp the red duck with right gripper", - "Static", - "Place the red duck on the table with right gripper", - "Grasp the red duck with left gripper", + "Pull the zipper with right gripper", + "Pull open the zipper with your left hand.", + "Grasp the bag with left gripper", + "Hold the bag with your right hand.", "End", - "Place the red duck on the table with left gripper", - "Abnormal", + "Zip up the bag with your left hand.", + "Zip up the bag with your right hand.", + "Grasp the bag with right gripper", + "Pull the zipper with left gripper", + "Grab the zipper with your left hand.", + "Discard.", + "Pull open the zipper with your right hand.", + "Hold the bag with your left hand.", "null" ], "annotations": { @@ -59152,24 +53991,24 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_duck_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_duck_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_pull_zipper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", + "structure": "Cobot_Magic_pull_zipper_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" }, - "RMC-AIDA-L_place_test_tube": { - "path": "RMC-AIDA-L_place_test_tube", - "dataset_name": "place_test_tube", + "G1edu-u3_pullBowl_storage_bread_unordered_b": { + "path": "G1edu-u3_pullBowl_storage_bread_unordered_b", + "dataset_name": "pullBowl_storage_bread_unordered_b", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "place", "pick", - "move" + "place", + "receive" ], - "tasks": "Place the test tube on the test tube rack with the left gripper ", + "tasks": "Abnormal", "objects": [ { "object_name": "table", @@ -59180,35 +54019,59 @@ "level5": null }, { - "object_name": "test_tube_rack", - "level1": "container", - "level2": "test_tube_rack", + "object_name": "faucet", + "level1": "water_dispenser", + "level2": "faucet", "level3": null, "level4": null, "level5": null }, { - "object_name": "test_tube", - "level1": "container", - "level2": "test_tube", + "object_name": "cup", + "level1": "kitchen_supplies", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange_juice", + "level1": "drink", + "level2": "orange_juice", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cola", + "level1": "beverages", + "level2": "cola", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sprite", + "level1": "beverages", + "level2": "sprite", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-365863", - "dataset_size": "4.0GB", + "frame_range": "0-118843", + "dataset_size": "2.3GB", "statistics": { - "total_episodes": 648, - "total_frames": 365863, + "total_episodes": 190, + "total_frames": 118843, "total_tasks": 1, - "total_videos": 1944, + "total_videos": 570, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "7ed8e496-1917-4844-a0f7-98fe52c1477d", + "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a50", "language": [ "en", "zh" @@ -59217,17 +54080,13 @@ "robotics" ], "sub_tasks": [ - "Place the test tube on the test tube rack with the left gripper ", + "Abnormal", + "Place the long bread in pink bowl with left hand", "End", - "Pass the test tube from the left gripper to the right gripper", - "pick up the test tube with the right gripper ", - "Place the test tubes on the test tube rack with the left gripper", - "move the test tube from the right gripper to the left gripper ", - "Pick up the test tube with the right gripper", - "Grasp the arch-shaped block with the left gripper", - "Pick up the test tube with the left gripper", - "Place the test tubes on the test tube rack with the right gripper", - "Pass the test tube from the right gripper to the left gripper", + "Grasp the round bread with left hand", + "Grasp the long bread with left hand", + "Place the round bread in pink bowl with left hand", + "Move the pink bowl to the center of table with right hand", "null" ], "annotations": { @@ -59265,14 +54124,14 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_place_test_tube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_place_test_tube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pullBowl_storage_bread_unordered_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_moving_parts_m": { - "path": "leju_robot_moving_parts_m", - "dataset_name": "moving_parts_m", - "robot_type": "", - "end_effector_type": [ + "AIRBOT_MMK2_place_the_cake": { + "path": "AIRBOT_MMK2_place_the_cake", + "dataset_name": "place_the_cake", + "robot_type": "", + "end_effector_type": [ "five_finger_hand" ], "scene_type": [], @@ -59281,7 +54140,7 @@ "pick", "place" ], - "tasks": "Place the black part on the table with right gripper", + "tasks": "Place the cake on the yellow cube block with the left gripper", "objects": [ { "object_name": "table", @@ -59292,370 +54151,75 @@ "level5": null }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", + "object_name": "cake", + "level1": "food", + "level2": "cake", "level3": null, "level4": null, "level5": null }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-742399", - "dataset_size": "50.9GB", - "statistics": { - "total_episodes": 490, - "total_frames": 742399, - "total_tasks": 1, - "total_videos": 1470, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "fb9bf451-cf8b-4da5-b5c1-13529609f049", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the black part on the table with right gripper", - "Pick up the large material from the shelf.", - "Insert the large material into the corresponding slot on the workbench.", - "End", - "Grasp the black part with right gripper", - "Move the large material to the workbench.", - "Move to the initial position of the shelf.", - "Move to the table behind body", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_m_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_m_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_stacking_blocks": { - "path": "AIRBOT_MMK2_stacking_blocks", - "dataset_name": "stacking_blocks", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the yellow cube on the orange cube with the right gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "building_block", + "object_name": "building_blocks", "level1": "toy", - "level2": "building_block", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-52766", - "dataset_size": "2.2GB", - "statistics": { - "total_episodes": 213, - "total_frames": 52766, - "total_tasks": 5, - "total_videos": 852, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "cdff2820-6ed6-414f-add9-1454a57a81b2", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the yellow cube on the orange cube with the right gripper", - "Static", - "Grasp the blue rhombic cuboid block with the right gripper", - "Grasp the red cuboid block with the left gripper", - "Grasp the blue small cube with the left gripper", - "Place the red small cube on the blue small cube with the right gripper", - "Place the red cuboid block in the center of view with the left gripper", - "Grasp the big red cube with the left gripper", - "Abnormal", - "Place the orange cube on the yellow cube with the right gripper", - "Place the green small cube on the blue small cube with the right gripper", - "Grasp the green small cube with the right gripper", - "Grasp the red small cube with the right gripper", - "Grasp the blue cube with the right gripper", - "Place the blue cube on the red cube with the left gripper", - "Grasp the orange cube with the right gripper", - "Grasp the blue cube with the left gripper", - "Place the blue small cube on the small table with the left gripper", - "End", - "Place the blue rhombic cuboid block on the red cuboid block with the right gripper", - "Place the blue small cube on the yellow small cube with the left gripper", - "Place the big red cube in the center of view with the left gripper", - "Grasp the yellow cube with the right gripper", - "Place theblue cube on the big red cube with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_stacking_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_stacking_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_catch_the_water": { - "path": "R1_Lite_catch_the_water", - "dataset_name": "catch_the_water", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "open", - "close" - ], - "tasks": "Place the cup next to the water dispenser", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "level2": "building_blocks", "level3": null, "level4": null, "level5": null }, { - "object_name": "water_dispenser", - "level1": "container", - "level2": "water_dispenser", + "object_name": "ice_cream", + "level1": "food", + "level2": "ice_cream", "level3": null, "level4": null, "level5": null }, { - "object_name": "cup", + "object_name": "small_basin", "level1": "container", - "level2": "cup", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-133503", - "dataset_size": "5.6GB", - "statistics": { - "total_episodes": 148, - "total_frames": 133503, - "total_tasks": 1, - "total_videos": 444, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "071ba9f6-2258-439b-82bd-6fec0968ae25", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the cup next to the water dispenser", - "abnormal", - "Pick up the cup", - "Turn off the faucet", - "Place it under the water dispenser", - "Turn on the faucet", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_catch_the_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_catch_the_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars": { - "path": "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars", - "dataset_name": "place_the_glasses_case_and_gold_bars", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the glasses case on the middle of the table with the left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "level2": "small_basin", "level3": null, "level4": null, "level5": null }, { - "object_name": "glasses_case", + "object_name": "lid", "level1": "container", - "level2": "glasses_case", + "level2": "lid", "level3": null, "level4": null, "level5": null }, { - "object_name": "gold_bar", - "level1": "metal", - "level2": "gold_bar", + "object_name": "swiss_roll", + "level1": "food", + "level2": "swiss_roll", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-10180", - "dataset_size": "412.7MB", + "frame_range": "0-50001", + "dataset_size": "2.3GB", "statistics": { - "total_episodes": 49, - "total_frames": 10180, - "total_tasks": 1, - "total_videos": 196, + "total_episodes": 249, + "total_frames": 50001, + "total_tasks": 5, + "total_videos": 996, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "fc8bbdff-5847-4a9e-b1c1-634bab1b4ed7", + "dataset_uuid": "9dd9223d-2d05-47a8-bfd0-0884a7f571ed", "language": [ "en", "zh" @@ -59664,13 +54228,25 @@ "robotics" ], "sub_tasks": [ - "Place the glasses case on the middle of the table with the left gripper", - "End", - "Static", - "Place the gold bar on the glasses case with the right gripper", - "Grasp the glasses case with the left gripper", - "Grasp the gold bar the right gripper", + "Place the cake on the yellow cube block with the left gripper", + "Grasp the bagged cake with the left gripper", + "Grasp the cake on the plate with the right gripper", + "Place the cake on the table with the right gripper", "Abnormal", + "Static", + "Grasp the cake with the left gripper", + "Place the ice cream into the white basket with the right gripper", + "Place the cake into the white basket with the left gripper", + "Place the ice cream into the white basket with the left gripper", + "Grasp the ice cream with the right gripper", + "Grasp the ice cream with the left gripper", + "Grasp the bagged cake with the right gripper", + "Place the cake into the white plate with the left gripper", + "Place the bagged cake on the white plate with the left gripper", + "End", + "Grasp the cake with the right gripper", + "Place the bagged cake on the white plate with the right gripper", + "Place the cake on the blue cube block with the right gripper", "null" ], "annotations": { @@ -59708,121 +54284,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_box_storage_part_a": { - "path": "AgiBot-g1_box_storage_part_a", - "dataset_name": "box_storage_part_a", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "place", - "pick", - "grasp" - ], - "tasks": "Pick up the IO bracket from the container box.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "part", - "level1": "tool", - "level2": "part", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tray", - "level1": "container", - "level2": "tray", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-205995", - "dataset_size": "105.7GB", - "statistics": { - "total_episodes": 335, - "total_frames": 205995, - "total_tasks": 1, - "total_videos": 2680, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "24378624-9647-4aad-82ac-d822bb7bc50d", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick up the IO bracket from the container box.", - "Place the IO bracket into the ingredient slot.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_place_the_cake_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_place_the_cake_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_move_book_front": { + "Airbot_MMK2_take_block_both_hands": { "task_categories": [ "robotics" ], @@ -59852,11 +54317,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_move_book_front", + "dataset_name": "Airbot_MMK2_take_block_both_hands", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { "level1": "household", - "level2": "study_room", + "level2": "living_room", "level3": null, "level4": null, "level5": null @@ -59864,9 +54329,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "book", - "level1": "stationery", - "level2": "book", + "object_name": "square_building_blocks", + "level1": "toys", + "level2": "square_building_blocks", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "paper_boxes", + "level1": "home_storage", + "level2": "paper_boxes", "level3": null, "level4": null, "level5": null @@ -59874,32 +54347,36 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "pick up the book with your left hand and hand it to your right hand, then place it on top of another book." + "pick up the building blocks simultaneously with both hands and take them out of the paper box." ], "sub_tasks": [ { - "subtask": "Deliver the yellow book from left gripper to right gripper", + "subtask": "End", "subtask_index": 0 }, { - "subtask": "Place the yellow book on the white book with the right gripper", + "subtask": "Grasp the blue cube block on the paper box with the left gripper", "subtask_index": 1 }, { - "subtask": "Grasp the yellow book with the left gripper", + "subtask": "Static", "subtask_index": 2 }, { - "subtask": "Static", + "subtask": "Grasp the green cube block on the paper box with the right gripper", "subtask_index": 3 }, { - "subtask": "End", + "subtask": "Place the green cube block on the table with the right gripper", "subtask_index": 4 }, { - "subtask": "null", + "subtask": "Place the blue cube block on the table with the left gripper", "subtask_index": 5 + }, + { + "subtask": "null", + "subtask_index": 6 } ], "atomic_actions": [ @@ -59939,23 +54416,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 49, - "total_frames": 10519, + "total_episodes": 47, + "total_frames": 4793, "fps": 30, - "total_tasks": 6, - "total_videos": 196, + "total_tasks": 7, + "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "396.69 MB" + "dataset_size": "221.66 MB" }, - "frame_num": 10519, - "dataset_size": "396.69 MB", - "data_structure": "Airbot_MMK2_move_book_front_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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\n|-- info.yaml\n`-- README.md", + "frame_num": 4793, + "dataset_size": "221.66 MB", + "data_structure": "Airbot_MMK2_take_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| `-- ... (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": "0:48" + "train": "0:46" }, "features": { "observation.images.cam_head_rgb": { @@ -60309,123 +54786,21 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Cobot_Magic_plate_storage_bread": { - "path": "Cobot_Magic_plate_storage_bread", - "dataset_name": "plate_storage_bread", + "Split_aloha_pour_rice": { + "path": "Split_aloha_pour_rice", + "dataset_name": "pour_rice", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "grasp", + "place", "pick", - "place" - ], - "tasks": "Grasp the yellow bread", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread", - "level1": "food", - "level2": "bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-27875", - "dataset_size": "515.0MB", - "statistics": { - "total_episodes": 100, - "total_frames": 27875, - "total_tasks": 1, - "total_videos": 300, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 50 - }, - "dataset_uuid": "f4001f44-f88b-4812-a364-a7f937d58496", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the yellow bread", - "Place the bread into the yellow plate", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_plate_storage_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_plate_storage_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_box_storage_parcel_h": { - "path": "leju_robot_box_storage_parcel_h", - "dataset_name": "box_storage_parcel_h", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ "grasp", - "pick", - "place" + "pour" ], - "tasks": "Place the package into the parcel locker.", + "tasks": "Grasp the cup with rice in it with left gripper", "objects": [ { "object_name": "table", @@ -60436,243 +54811,43 @@ "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "rice", + "level1": "food", + "level2": "rice", "level3": null, "level4": null, "level5": null }, { - "object_name": "parcel", + "object_name": "rice_container", "level1": "container", - "level2": "parcel", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "conveyor_belt", - "level1": "industrial_equipment", - "level2": "conveyor_belt", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-149279", - "dataset_size": "7.7GB", - "statistics": { - "total_episodes": 389, - "total_frames": 149279, - "total_tasks": 1, - "total_videos": 1167, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "6dd99999-811b-4ae1-aac2-7a5b81087eaa", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the package into the parcel locker.", - "Pick up the package from the inbound machine.", - "Pick up the package from the conveyor belt.", - "Place the package onto the inbound machine.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_box_storage_parcel_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_box_storage_parcel_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_pick_cup_a": { - "path": "G1edu-u3_pick_cup_a", - "dataset_name": "pick_cup_a", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "level2": "rice_container", "level3": null, "level4": null, "level5": null }, { "object_name": "cup", - "level1": "kitchen_supplies", + "level1": "container", "level2": "cup", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-8046", - "dataset_size": "88.4MB", - "statistics": { - "total_episodes": 24, - "total_frames": 8046, - "total_tasks": 1, - "total_videos": 24, - "total_chunks": 1, - "chunks_size": 24, - "fps": 30 - }, - "dataset_uuid": "6c4e6e81-bded-43dc-a803-02147d6eb107", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Grasp the paper cup and lift it to the center of the view with right gripper", - "Grasp the paper cup and lift it to the center of the view with left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_cup_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_cup_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_box_storage_cardboard_box_b": { - "path": "AgiBot-g1_box_storage_cardboard_box_b", - "dataset_name": "box_storage_cardboard_box_b", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "place", - "pick", - "grasp" - ], - "tasks": "Place the mouse and the power cord paper box into the container.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "paper_box", - "level1": "tool", - "level2": "paper_box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "carton", - "level1": "tool", - "level2": "carton", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-115855", - "dataset_size": "56.9GB", + "operation_platform_height": 77.2, + "frame_range": "0-504182", + "dataset_size": "4.9GB", "statistics": { - "total_episodes": 247, - "total_frames": 115855, + "total_episodes": 740, + "total_frames": 504182, "total_tasks": 1, - "total_videos": 1976, + "total_videos": 2220, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "7e28f5b3-7a48-4d52-b01e-390390932ffd", + "dataset_uuid": "004a37ce-a00a-4547-a5a0-0538af2c8a99", "language": [ "en", "zh" @@ -60681,8 +54856,17 @@ "robotics" ], "sub_tasks": [ - "Place the mouse and the power cord paper box into the container.", - "Pick up the mouse and the power cord paper box.", + "Grasp the cup with rice in it with left gripper", + "Place the bowl in the center of view with the right gripper", + "End", + "Place the cup on the table with the left gripper", + "Static", + "Pick up the bowl with the right gripper", + "Abnormal", + "Move the bowl in the center of view with right gripper", + "Move the bowl to the center of view with the right gripper", + "Pick up the cup with rice in it with the left gripper", + "Pour the rice from the cup into the bowl with the left gripper", "null" ], "annotations": { @@ -60720,10 +54904,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Split_aloha_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_pour_rice_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galaxea_R1_Lite_change_baai_into_brain": { + "Galaxea_R1_Lite_mix_blue_yellow_right": { "task_categories": [ "robotics" ], @@ -60753,11 +54937,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_change_baai_into_brain", - "dataset_uuid": "75dad2ee-672e-402a-823a-198e5e42af62", + "dataset_name": "Galaxea_R1_Lite_mix_blue_yellow_right", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "eduction", - "level2": "school", + "level1": "office_workspace", + "level2": "office", "level3": null, "level4": null, "level5": null @@ -60765,9 +54949,49 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "buiding_blocks", - "level1": "toys", - "level2": "buiding_blocks", + "object_name": "blue_pigment", + "level1": "materials", + "level2": "blue_pigment", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "red_pigment", + "level1": "materials", + "level2": "red_pigment", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yellow_pigment", + "level1": "materials", + "level2": "yellow_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 @@ -60775,34 +54999,83 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "rearrange the word baai as brain." + "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": "Disassemble the second character A", + "subtask": "Abnormal", "subtask_index": 0 }, { - "subtask": "Place the character R between first character B and third character A", + "subtask": "Place the test tube into the bowl with right gripper", "subtask_index": 1 }, { - "subtask": "End", + "subtask": "Grasp the red reagent with the left gripper", "subtask_index": 2 }, { - "subtask": "Place the character N after character I", + "subtask": "Pour the blue reagent into the graduated cylinder with right gripper", "subtask_index": 3 }, { - "subtask": "null", + "subtask": "Pick up the test tube containing the yellow reagent with right gripper", "subtask_index": 4 + }, + { + "subtask": "Grasp the yellow reagent with the right gripper", + "subtask_index": 5 + }, + { + "subtask": "Grasp the red reagent with the right gripper", + "subtask_index": 6 + }, + { + "subtask": "Place the test tube into the bowl with the right gripper", + "subtask_index": 7 + }, + { + "subtask": "Pour the yellow reagent into the graduated cylinder with the right gripper", + "subtask_index": 8 + }, + { + "subtask": "End", + "subtask_index": 9 + }, + { + "subtask": "Pour the blue reagent into the graduated cylinder with the right gripper", + "subtask_index": 10 + }, + { + "subtask": "Pour the yellow reagent into the graduated cylinder with right gripper", + "subtask_index": 11 + }, + { + "subtask": "Pick up the test tube containing the blue reagent with right gripper", + "subtask_index": 12 + }, + { + "subtask": "Pour the red reagent into the graduated cylinder with the right gripper", + "subtask_index": 13 + }, + { + "subtask": "end", + "subtask_index": 14 + }, + { + "subtask": "Grasp the blue reagent with the right gripper", + "subtask_index": 15 + }, + { + "subtask": "null", + "subtask_index": 16 } ], "atomic_actions": [ "grasp", "pick", - "place" + "place", + "pour" ], "robot_name": [ "Galaxea_R1_Lite" @@ -60818,8 +55091,8 @@ "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" + "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", @@ -60836,23 +55109,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 67, - "total_frames": 83804, + "total_episodes": 50, + "total_frames": 32657, "fps": 30, - "total_tasks": 5, - "total_videos": 268, + "total_tasks": 17, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "state_dim": 14, "action_dim": 14, "camera_views": 4, - "dataset_size": "3.61 GB" + "dataset_size": "665.69 MB" }, - "frame_num": 83804, - "dataset_size": "3.61 GB", - "data_structure": "Galaxea_R1_Lite_change_baai_into_brain_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (55 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 32657, + "dataset_size": "665.69 MB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_mix_blue_yellow_right_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:66" + "train": "0:49" }, "features": { "observation.images.cam_head_left_rgb": { @@ -60904,8 +55177,8 @@ "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 360, + 640, 3 ], "names": [ @@ -60914,8 +55187,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 360, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -60927,8 +55200,8 @@ "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 360, + 640, 3 ], "names": [ @@ -60937,8 +55210,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 360, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -61222,271 +55495,9 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "R1_Lite_put_the_tableware_into_the_cupboard": { - "path": "R1_Lite_put_the_tableware_into_the_cupboard", - "dataset_name": "put_the_tableware_into_the_cupboard", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the fork in the cutlery box", - "objects": [ - { - "object_name": "cabinet", - "level1": "furniture", - "level2": "cabinet", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chopsticks", - "level1": "tableware", - "level2": "chopsticks", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "fork", - "level1": "tableware", - "level2": "fork", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-367607", - "dataset_size": "15.5GB", - "statistics": { - "total_episodes": 143, - "total_frames": 367607, - "total_tasks": 1, - "total_videos": 429, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "49bc9e7b-4491-4846-95a2-082b0e4f9178", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the fork in the cutlery box", - "Place the spoon on the plate", - "Take the bowl out of the cupboard", - "Pick up the bowl and place it in the cupboard", - "Take the chopsticks out of the cupboard", - "Pull apart the shelf", - "Pick up the chopsticks and place it in the cupboard", - "End", - "Take the plate out of the cupboard", - "Place the bowl on the shelf", - "Take the fork out of the cupboard", - "Abnormal", - "Place the plate on the table", - "Pick up the plate and place it in the cupboard", - "Place a chopstick on the table", - "Place the plate on the shelf", - "Pull apart the cupboard", - "Place the fork on the table", - "Place a pair of chopsticks in the cutlery box", - "Take the spoon out of the cupboard", - "Place the bowl on the plate", - "Place the spoon on the table", - "Place the spoon on the cutlery box", - "Open the cupboard", - "Pick up the spoon and place it in the cupboard", - "Close the cupboard", - "Pick up the fork and place it in the cupboard", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_fold_the_towel": { - "path": "Cobot_Magic_fold_the_towel", - "dataset_name": "fold_the_towel", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick", - "fold" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-235124", - "dataset_size": "5.1GB", - "statistics": { - "total_episodes": 177, - "total_frames": 235124, - "total_tasks": 3, - "total_videos": 531, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 50 - }, - "dataset_uuid": "15a5b235-0337-4484-9e0f-be8def7a8879", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Fold the towel upwards with the both gripper", - "Fold the towel upwards with the right gripper", - "Tidy up the towels", - "Fold the towel from right to left with the right gripper", - "Fold the towel upwards with the left gripper", - "Fold the towel", - "abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_fold_the_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_fold_the_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_move_the_position_of_the_black_marker": { - "path": "R1_Lite_move_the_position_of_the_black_marker", - "dataset_name": "move_the_position_of_the_black_marker", + "R1_Lite_move_the_position_of_the_coffee_capsule": { + "path": "R1_Lite_move_the_position_of_the_coffee_capsule", + "dataset_name": "move_the_position_of_the_coffee_capsule", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -61497,7 +55508,7 @@ "pick", "grasp" ], - "tasks": "Grasp the Marker pen with left gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -61845,18 +55856,18 @@ } ], "operation_platform_height": 77.2, - "frame_range": "0-15618", - "dataset_size": "536.6MB", + "frame_range": "0-14334", + "dataset_size": "500.1MB", "statistics": { - "total_episodes": 61, - "total_frames": 15618, + "total_episodes": 58, + "total_frames": 14334, "total_tasks": 1, - "total_videos": 244, + "total_videos": 232, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "5d591692-f2ae-4fa8-97d1-9cd1613b1b33", + "dataset_uuid": "b0f7658f-e170-4911-afdf-9af621bfa0fe", "language": [ "en", "zh" @@ -61865,12 +55876,12 @@ "robotics" ], "sub_tasks": [ - "Grasp the Marker pen with left gripper", - "Grasp the Marker pen with right gripper", - "Place the Marker pen on the table with right gripper", - "Static", "End", - "Place the Marker pen on the table with left gripper", + "Grasp the coffee capsule with left gripper", + "Place the coffee capsule on the table with right gripper", + "Grasp the coffee capsule with right gripper", + "Static", + "Place the coffee capsule on the table with left gripper", "null" ], "annotations": { @@ -61908,10 +55919,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_coffee_capsule_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_move_cup_paper_box": { + "Galaxea_R1_Lite_pour_liquid_mrable_bar_counter": { "task_categories": [ "robotics" ], @@ -61941,10 +55952,10 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_move_cup_paper_box", + "dataset_name": "Galaxea_R1_Lite_pour_liquid_mrable_bar_counter", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", + "level1": "househhold", "level2": "kitchen", "level3": null, "level4": null, @@ -61953,25 +55964,41 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "paper_boxes", - "level1": "home_storage", - "level2": "paper_boxes", + "object_name": "marble_bar_counter", + "level1": "furniture", + "level2": "marble_bar_counter", "level3": null, "level4": null, "level5": null }, { - "object_name": "pink_plate", - "level1": "kitchen_supplies", - "level2": "pink_plate", + "object_name": "plastic_cup", + "level1": "cups", + "level2": "plastic_cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "coffee cup", - "level1": "kitchen_supplies", - "level2": "coffee cup", + "object_name": "green_dish", + "level1": "plates", + "level3": "green_dish", + "level2": null, + "level4": null, + "level5": null + }, + { + "object_name": "pink_bowl", + "level1": "plastic_bowls", + "level2": "pink_bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "liquid", + "level1": "materials", + "level2": "liquid", "level3": null, "level4": null, "level5": null @@ -61979,59 +56006,172 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "place the paper box on the paper box with your left hand and put the coffee cup on the plate with your right hand." + "use a gripper to pick up the cup and pour the liquid into a bowl or tray." ], "sub_tasks": [ { - "subtask": "Grasp the mouse box with the left gripper", + "subtask": "Pour the orange juice into the pink bowl with left gripper", "subtask_index": 0 }, { - "subtask": "Place the mouse box on the calculator box with the left gripper", + "subtask": "Pour the black tea into the pink bowl with the right gripper", "subtask_index": 1 }, { - "subtask": "End", + "subtask": "Grasp the glass of black tea with the right gripper", "subtask_index": 2 }, { - "subtask": "Grasp the coffee cup with the right gripper", + "subtask": "Pour the orange juice into the blue basin with right gripper", "subtask_index": 3 }, { - "subtask": "Place the coffee cup on the white plate with the right gripper", + "subtask": "Left gripper", "subtask_index": 4 }, { - "subtask": "Place the coffee cup on the pink plate with the right gripper", + "subtask": "Pour the tea into the pink bowl with left gripper", "subtask_index": 5 }, { - "subtask": "null", + "subtask": "Grasp the glass of orange juice with the right gripper", "subtask_index": 6 + }, + { + "subtask": "Pour the tea into the pink bowl with right gripper", + "subtask_index": 7 + }, + { + "subtask": "Pick up blue cup filled with tea with right gripper", + "subtask_index": 8 + }, + { + "subtask": "Pour the orange juice into the pink bowl with the right gripper", + "subtask_index": 9 + }, + { + "subtask": "Pour the orange juice into the pink bowl with the left gripper", + "subtask_index": 10 + }, + { + "subtask": "Pour the orange juice into the blue basin with left gripper", + "subtask_index": 11 + }, + { + "subtask": "Pour the orange juice into the green bowl with the right gripper", + "subtask_index": 12 + }, + { + "subtask": "Place blue cup with tea on the table with right gripper", + "subtask_index": 13 + }, + { + "subtask": "Pour the orange juice into the green bowl with the left gripper", + "subtask_index": 14 + }, + { + "subtask": "Pour the orange juice into the pink bowl with right gripper", + "subtask_index": 15 + }, + { + "subtask": "Place blue cup with orange juice on the table with right gripper", + "subtask_index": 16 + }, + { + "subtask": "Pour the black tea into the green bowl with the right gripper", + "subtask_index": 17 + }, + { + "subtask": "Pick up blue cup filled with orange juice with right gripper", + "subtask_index": 18 + }, + { + "subtask": "Place blue cup with orange juice on the table with left gripper", + "subtask_index": 19 + }, + { + "subtask": "Grasp the glass of black tea with the left gripper", + "subtask_index": 20 + }, + { + "subtask": "Pour the black tea into the green bowl with the left gripper", + "subtask_index": 21 + }, + { + "subtask": "Pour the tea into the blue basin with right gripper", + "subtask_index": 22 + }, + { + "subtask": "Pick up blue cup filled with tea with left gripper", + "subtask_index": 23 + }, + { + "subtask": "Pour the tea into the blue basin with left gripper", + "subtask_index": 24 + }, + { + "subtask": "Pour the black tea into the pink bowl with the left gripper", + "subtask_index": 25 + }, + { + "subtask": "Grasp the glass of orange juice with the left gripper", + "subtask_index": 26 + }, + { + "subtask": "Place the glass cup with the right gripper", + "subtask_index": 27 + }, + { + "subtask": "Pick up blue cup filled with orange juice with left gripper", + "subtask_index": 28 + }, + { + "subtask": "End", + "subtask_index": 29 + }, + { + "subtask": "Place blue cup with shrimp on the table with right gripper", + "subtask_index": 30 + }, + { + "subtask": "Right gripper", + "subtask_index": 31 + }, + { + "subtask": "Place blue cup with tea on the table with left gripper", + "subtask_index": 32 + }, + { + "subtask": "Place the glass cup with the left gripper", + "subtask_index": 33 + }, + { + "subtask": "null", + "subtask_index": 34 } ], "atomic_actions": [ "grasp", "pick", - "place" + "place", + "pour" ], "robot_name": [ - "Airbot_MMK2" + "Galaxea_R1_Lite" ], - "end_effector_type": "five_finger_gripper", + "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_rgb", + "cam_head_left_rgb", + "cam_head_right_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "cam_right_wrist_rgb" ], "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_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", @@ -62048,30 +56188,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 93, - "total_frames": 25588, + "total_episodes": 100, + "total_frames": 43652, "fps": 30, - "total_tasks": 7, - "total_videos": 372, + "total_tasks": 35, + "total_videos": 400, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, + "state_dim": 14, + "action_dim": 14, "camera_views": 4, - "dataset_size": "929.19 MB" + "dataset_size": "1.70 GB" }, - "frame_num": 25588, - "dataset_size": "929.19 MB", - "data_structure": "Airbot_MMK2_move_cup_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| `-- ... (81 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 43652, + "dataset_size": "1.70 GB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_pour_liquid_mrable_bar_counter_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:92" + "train": "0:99" }, "features": { - "observation.images.cam_head_rgb": { + "observation.images.cam_head_left_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -62080,8 +56220,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -62090,11 +56230,11 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_head_right_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -62103,8 +56243,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -62113,10 +56253,10 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 480, + 360, 640, 3 ], @@ -62126,7 +56266,7 @@ "channels" ], "info": { - "video.height": 480, + "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -62136,10 +56276,10 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 480, + 360, 640, 3 ], @@ -62149,7 +56289,7 @@ "channels" ], "info": { - "video.height": 480, + "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -62162,7 +56302,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -62177,36 +56317,14 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -62221,30 +56339,8 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "timestamp": { @@ -62395,6 +56491,66 @@ 2 ], "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" } }, "authors": { @@ -62416,22 +56572,22 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "AgiBot-g1_box_storage_cardboard_box_c": { - "path": "AgiBot-g1_box_storage_cardboard_box_c", - "dataset_name": "box_storage_cardboard_box_c", + "AIRBOT_MMK2_push_piston": { + "path": "AIRBOT_MMK2_push_piston", + "dataset_name": "push_piston", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ - "place", + "grasp", "pick", - "grasp" + "place" ], - "tasks": "Place the mouse and the power cord paper box into the container.", + "tasks": "Static", "objects": [ { "object_name": "table", @@ -62442,27 +56598,27 @@ "level5": null }, { - "object_name": "carton", - "level1": "container", - "level2": "carton", + "object_name": "syringe", + "level1": "medical_supplies", + "level2": "syringe", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-230771", - "dataset_size": "109.0GB", + "operation_platform_height": 77.2, + "frame_range": "0-15278", + "dataset_size": "598.3MB", "statistics": { - "total_episodes": 476, - "total_frames": 230771, + "total_episodes": 47, + "total_frames": 15278, "total_tasks": 1, - "total_videos": 3808, + "total_videos": 188, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "f5991bf3-3900-460c-adbd-56e87ac4bbc1", + "dataset_uuid": "eef01bf4-6600-4121-9501-b7651d8e26c5", "language": [ "en", "zh" @@ -62471,8 +56627,13 @@ "robotics" ], "sub_tasks": [ - "Place the mouse and the power cord paper box into the container.", - "Pick up the mouse and the power cord paper box.", + "Static", + "Push the piston with the right gripper", + "End", + "Grasp the syringe with the left gripper", + "Grasp the piston with the right gripper", + "Place the syringe on the table with the left gripper", + "Lift the syringe with the left gripper", "null" ], "annotations": { @@ -62510,12 +56671,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_push_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_push_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_movethe_position_of_the_bluetooth": { - "path": "Cobot_Magic_movethe_position_of_the_bluetooth", - "dataset_name": "movethe_position_of_the_bluetooth", + "R1_Lite_clean_the_sink": { + "path": "R1_Lite_clean_the_sink", + "dataset_name": "clean_the_sink", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -62524,48 +56685,51 @@ "atomic_actions": [ "grasp", "pick", - "place" + "place", + "open", + "wipe", + "close" ], - "tasks": "Place bluetooth earbud on the right side of the table", + "tasks": "Pick up the cloth", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "washbasin", + "level1": "container", + "level2": "washbasin", "level3": null, "level4": null, "level5": null }, { - "object_name": "bluetooth_earbud", - "level1": "electronic_products", - "level2": "bluetooth_earbud", + "object_name": "faucet", + "level1": "tool", + "level2": "faucet", "level3": null, "level4": null, "level5": null }, { - "object_name": "bluetooth_earphone_case", - "level1": "electronic_products", - "level2": "bluetooth_earphone_case", + "object_name": "rag", + "level1": "clothing", + "level2": "rag", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-52508", - "dataset_size": "850.5MB", + "operation_platform_height": null, + "frame_range": "0-104391", + "dataset_size": "3.8GB", "statistics": { - "total_episodes": 198, - "total_frames": 52508, - "total_tasks": 2, - "total_videos": 594, + "total_episodes": 120, + "total_frames": 104391, + "total_tasks": 1, + "total_videos": 360, "total_chunks": 1, "chunks_size": 1000, - "fps": 50 + "fps": 30 }, - "dataset_uuid": "dc390f5c-b242-48d0-86f0-0932b22a8f6a", + "dataset_uuid": "d29e439c-d1a9-41e5-ab2b-e264195dda27", "language": [ "en", "zh" @@ -62574,10 +56738,10 @@ "robotics" ], "sub_tasks": [ - "Place bluetooth earbud on the right side of the table", - "Place bluetooth earphone case on the left side of the table", - "Grasp the Bluetooth earphone case", - "Grasp the Bluetooth earbud", + "Pick up the cloth", + "Turn on the faucet", + "Wipe the sink", + "Turn off the faucet", "null" ], "annotations": { @@ -62615,502 +56779,117 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_clean_the_sink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_clean_the_sink_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_open_laptop": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" + "Tianqin_A2_box_storage_part": { + "path": "Tianqin_A2_box_storage_part", + "dataset_name": "box_storage_part", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_open_laptop", - "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.", + "tasks": "Place the data cable in the another box", "objects": [ { - "object_name": "laptop", - "level1": "appliances", - "level2": "laptop", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, - "level5:operation_platform_height": 77.2 - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "press the laptop with your right hand and then open it with your left hand." - ], - "sub_tasks": [ - { - "subtask": "Press the laptop with the right gripper", - "subtask_index": 0 - }, - { - "subtask": "Open the laptop with the left gripper", - "subtask_index": 1 - }, - { - "subtask": "Static", - "subtask_index": 2 - }, - { - "subtask": "Release the laptop with the right gripper", - "subtask_index": 3 - }, - { - "subtask": "End", - "subtask_index": 4 + "level5": null }, { - "subtask": "Grasp the laptop with the left gripper", - "subtask_index": 5 + "object_name": "part", + "level1": "tool", + "level2": "part", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 6 + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null } ], - "atomic_actions": [ - "grasp", - "open" - ], - "robot_name": [ - "Airbot_MMK2" - ], - "end_effector_type": "five_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" - ], - "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" - }, - "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", - "annotations": [ - "eef_acc_mag_annotation.jsonl", - "eef_direction_annotation.jsonl", - "eef_velocity_annotation.jsonl", - "gripper_activity_annotation.jsonl", - "gripper_mode_annotation.jsonl", - "scene_annotations.jsonl", - "subtask_annotations.jsonl" - ], + "operation_platform_height": null, + "frame_range": "0-681531", + "dataset_size": "25.6GB", "statistics": { - "total_episodes": 50, - "total_frames": 11734, - "fps": 30, - "total_tasks": 7, - "total_videos": 200, - "total_chunks": 1, + "total_episodes": 1104, + "total_frames": 681531, + "total_tasks": 1, + "total_videos": 3312, + "total_chunks": 2, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "432.71 MB" - }, - "frame_num": 11734, - "dataset_size": "432.71 MB", - "data_structure": "Airbot_MMK2_open_laptop_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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" + "fps": 30 }, - "features": { - "observation.images.cam_head_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_left_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.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" - } + "dataset_uuid": "7a1de37c-d8b0-476a-b503-99a0fd93cafd", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the data cable in the another box", + "Abnormal", + "Grasp the data cable", + "End", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } ] }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Tianqin_A2_box_storage_part_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", + "structure": "Tianqin_A2_box_storage_part_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" }, - "R1_Lite_tableware_cleaning": { - "path": "R1_Lite_tableware_cleaning", - "dataset_name": "tableware_cleaning", + "Cobot_Magic_food_packaging": { + "path": "Cobot_Magic_food_packaging", + "dataset_name": "food_packaging", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -63118,10 +56897,11 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "pull", + "place", + "pick" ], - "tasks": "End", + "tasks": "Place the banana into the package", "objects": [ { "object_name": "table", @@ -63132,240 +56912,75 @@ "level5": null }, { - "object_name": "bowl", + "object_name": "lunch_box", "level1": "container", - "level2": "bowl", + "level2": "lunch_box", "level3": null, "level4": null, "level5": null }, { - "object_name": "chopsticks", - "level1": "tableware", - "level2": "chopsticks", + "object_name": "banana", + "level1": "fruit", + "level2": "banana", "level3": null, "level4": null, "level5": null }, { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "dishwashing_liquid", - "level1": "cleaning_supplies", - "level2": "dishwashing_liquid", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "sponge", - "level1": "cleaning_supplies", - "level2": "sponge", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-327254", - "dataset_size": "17.6GB", - "statistics": { - "total_episodes": 102, - "total_frames": 327254, - "total_tasks": 1, - "total_videos": 306, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "1969fa83-52f1-4c9f-94c6-6f9802241318", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Rinse the chopsticks", - "Place the dish soap on the table", - "Wipe the plate", - "Rinse the plate", - "Place the chopsticks on the glass basin", - "Pick up a bowl and the sponge", - "Rinse the bowl", - "Wash the plate", - "Place the plate on the plate", - "Place the plate on the table", - "Place the spoon in the glass basin", - "Place the bowl on the table", - "Wipe the bowl", - "Squeeze it onto the sponge", - "Abnormal", - "Rinse the spoon", - "Place the bowl on the plate", - "Put down the sponge", - "Place the bowl on the bowl", - "Turn off the faucet", - "Grab the dish soap", - "Wash the bowl", - "Turn on the faucet", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_tableware_cleaning_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_tableware_cleaning_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_boxs_storage": { - "path": "AIRBOT_MMK2_boxs_storage", - "dataset_name": "boxs_storage", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Grasp the potato with the left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "calculator_box", - "level1": "container", - "level2": "calculator_box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "power_bank_box", - "level1": "container", - "level2": "power_bank_box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bucket", - "level1": "container", - "level2": "bucket", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pomegranate", - "level1": "fruit", - "level2": "pomegranate", + "object_name": "bread", + "level1": "food", + "level2": "bread", "level3": null, "level4": null, "level5": null }, { - "object_name": "mango", + "object_name": "pear", "level1": "fruit", - "level2": "mango", + "level2": "pear", "level3": null, "level4": null, "level5": null }, { - "object_name": "potato", + "object_name": "cucumber", "level1": "vegetable", - "level2": "potato", + "level2": "cucumber", "level3": null, "level4": null, "level5": null }, { - "object_name": "pumpkin", - "level1": "vegetable", - "level2": "pumpkin", + "object_name": "bag", + "level1": "container", + "level2": "bag", "level3": null, "level4": null, "level5": null }, { - "object_name": "compartment", - "level1": "container", - "level2": "compartment", + "object_name": "lemon", + "level1": "fruit", + "level2": "lemon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-40906", - "dataset_size": "1.2GB", + "frame_range": "0-1470087", + "dataset_size": "25.8GB", "statistics": { - "total_episodes": 138, - "total_frames": 40906, - "total_tasks": 3, - "total_videos": 552, + "total_episodes": 798, + "total_frames": 1470087, + "total_tasks": 2, + "total_videos": 2394, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "fda26243-c5f4-4e3a-8a7e-84a7d7c71f3a", + "dataset_uuid": "d6b80e23-6bac-471f-a759-a475112b145d", "language": [ "en", "zh" @@ -63374,20 +56989,54 @@ "robotics" ], "sub_tasks": [ - "Grasp the potato with the left gripper", - "Place the phone case box in the yellow box with the right gripper", - "Place the pumpkin into the right compartment of the storage box with the right gripper", - "Place the calculator box in the yellow box with the left gripper", - "Static", - "Grasp the calculator box with the left gripper", - "End", - "Grasp the mango with the right gripper", - "Grasp the pomegranate with the left gripper", - "Place the pomegranate into the left compartment of the storage box with the left gripper", - "Place the mango into the right compartment of the storage box with the right gripper", - "Grasp the phone case box with the right gripper", - "Place the potato into the left compartment of the storage box with the left gripper", - "Grasp the pumpkin with the right gripper", + "Place the banana into the package", + "Right hand grabs cucumber.", + "Right hand moves lunch bag.", + "Right hand grabs lunch bag.", + "Discard.", + "end", + "Right hand grabs banana.", + "Grasp the box with the right gripper", + "Grasp the package with the left gripper", + "Left hand grabs lunch box.", + "Hold the package and Pick up the bread", + "Left hand secures lunch bag.", + "Abnormal", + "Place the lemon into the package with the right gripper", + "Grasp the banana with the right gripper", + "Right hand grabs lunch box.", + "Left hand stands lunch bag upright.", + "Place the pear into the package with the right gripper", + "Place the pear into the package", + "Grasp the cucumber with the right gripper", + "Place the box into the package", + "Hold the package and Pick up the box", + "Hold the package and Pick up the cucumber", + "Right hand stands lunch bag upright.", + "Pick up the banana", + "Right hand grabs lemon.", + "Place the banana into the package with the right gripper", + "Place the bread into the package", + "Right hand places into bag.", + "Left hand moves lunch bag.", + "Grasp the lemon with the right gripper", + "Right hand grabs bread.", + "Pick up the pear", + "zip up the zipper to close the bag", + "Pick up the box", + "Right hand grabs pear.", + "Right hand pulls zipper.", + "Pick up the bread", + "Grasp the pear with the right gripper", + "Pick up the cucumber", + "Hold the package and Pick up the pear", + "Place the box into the package with the right gripper", + "Place the cucumber into the package with the right gripper", + "Right hand receives lunch box.", + "Hold the package and Pick up the banana", + "Left hand grabs lunch bag.", + "Left hand lifts lunch box.", + "Place the cucumber into the package", "null" ], "annotations": { @@ -63425,792 +57074,796 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_food_packaging_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_place_the_blue_and_purple_blocks": { - "path": "AIRBOT_MMK2_place_the_blue_and_purple_blocks", - "dataset_name": "place_the_blue_and_purple_blocks", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Grasp the purple cube block with the left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "square", - "level1": "toy", - "level2": "square", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-10277", - "dataset_size": "502.1MB", - "statistics": { - "total_episodes": 50, - "total_frames": 10277, - "total_tasks": 1, - "total_videos": 200, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "515b60a8-59ef-485b-bd22-34f963fd853c", - "language": [ - "en", - "zh" - ], + "agilex_cobot_magic_pass_object_right_to_left_white_tablecloth": { "task_categories": [ "robotics" ], - "sub_tasks": [ - "Grasp the purple cube block with the left gripper", - "Grasp the blue cube block with the right gripper", - "Place the purple cube block on the plate with the left gripper", - "Static", - "Place the blue cube block on the purple cube block with the right gripper", - "End", - "null" + "language": [ + "en" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_move_the_position_of_the_triangle_bread": { - "path": "R1_Lite_move_the_position_of_the_triangle_bread", - "dataset_name": "move_the_position_of_the_triangle_bread", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "place", - "pick", - "grasp" + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } ], - "tasks": "Grasp the pizza with right gripper", + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "agilex_cobot_magic_pass_object_right_to_left_white_tablecloth", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "commercial_convenience", + "level2": "supermarket", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { "object_name": "table", - "level1": "furniture", + "level1": "home_storage", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "waffle", + "object_name": "ambrosial_yogurt", "level1": "food", - "level2": "waffle", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", + "level2": "ambrosial_yogurt", "level3": null, "level4": null, "level5": null }, { "object_name": "banana", - "level1": "fruit", + "level1": "food", "level2": "banana", "level3": null, "level4": null, "level5": null }, { - "object_name": "bath_ball", - "level1": "daily_necessities", - "level2": "bath_ball", + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "object_name": "milk", + "level1": "food", + "level2": "milk", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "yogurt", + "level1": "food", + "level2": "yogurt", "level3": null, "level4": null, "level5": null }, { - "object_name": "can", - "level1": "container", - "level2": "can", + "object_name": "grape", + "level1": "food", + "level2": "grape", "level3": null, "level4": null, "level5": null }, { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", + "object_name": "ham_sausage", + "level1": "food", + "level2": "ham_sausage", "level3": null, "level4": null, "level5": null }, { - "object_name": "hard_cleanser", - "level1": "daily_necessities", - "level2": "hard_cleanser", + "object_name": "eggplant", + "level1": "food", + "level2": "eggplant", "level3": null, "level4": null, "level5": null }, { - "object_name": "long_bread", + "object_name": "chewing_gum", "level1": "food", - "level2": "long_bread", + "level2": "chewing_gum", "level3": null, "level4": null, "level5": null }, { - "object_name": "peeler", - "level1": "tool", - "level2": "peeler", + "object_name": "eyeglass_case", + "level1": "laboratory_supplies", + "level2": "eyeglass_case", "level3": null, "level4": null, "level5": null }, { - "object_name": "block", - "level1": "toy", - "level2": "block", + "object_name": "rubik's_cube", + "level1": "toys", + "level2": "rubik's_cube", "level3": null, "level4": null, "level5": null }, { - "object_name": "duck", - "level1": "toy", - "level2": "duck", + "object_name": "purple_trash_bag", + "level1": "trash", + "level2": "purple_trash_bag", "level3": null, "level4": null, "level5": null }, { - "object_name": "soap", + "object_name": "cleanser", "level1": "daily_necessities", - "level2": "soap", + "level2": "cleanser", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "container", - "level2": "box", + "object_name": "bathing_in_flowers", + "level1": "daily_necessities", + "level2": "bathing_in_flowers", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", + "object_name": "whiteboard_eraser", + "level1": "stationery", + "level2": "whiteboard_eraser", "level3": null, "level4": null, "level5": null }, { - "object_name": "cola", - "level1": "drink", - "level2": "cola", + "object_name": "candle", + "level1": "daily_necessities", + "level2": "candle", "level3": null, "level4": null, "level5": null }, { - "object_name": "detergent", - "level1": "daily_necessities", - "level2": "detergent", + "object_name": "white_table_cloths", + "level1": "laboratory_supplies", + "level2": "white_table_cloths", "level3": null, "level4": null, "level5": null - }, + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "use the right gripper to pick up the item and transfer it from the right gripper to the left gripper." + ], + "sub_tasks": [ { - "object_name": "egg_beater", - "level1": "electrical_appliances", - "level2": "egg_beater", - "level3": null, - "level4": null, - "level5": null + "subtask": "The left gripper places milk on the left side of the table", + "subtask_index": 0 }, { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null + "subtask": "\nPass the square chewing gun to the left gripper\n", + "subtask_index": 1 }, { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null + "subtask": "The left gripper places Rubik's Cube on the left side of the table", + "subtask_index": 2 }, { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null + "subtask": "\nPass the yogurt to the left gripper\n", + "subtask_index": 3 }, { - "object_name": "marker", - "level1": "office_supplies", - "level2": "marker", - "level3": null, - "level4": null, - "level5": null + "subtask": "The left gripper places grey towel on the left side of the table", + "subtask_index": 4 }, { - "object_name": "rubiks_cube", - "level1": "toy", - "level2": "rubiks_cube", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 5 }, { - "object_name": "bread_slice", - "level1": "food", - "level2": "bread_slice", - "level3": null, - "level4": null, - "level5": null + "subtask": "Use the right gripper to grab the banana on the right side of the table", + "subtask_index": 6 }, { - "object_name": "brush", - "level1": "daily_necessities", - "level2": "brush", - "level3": null, - "level4": null, - "level5": null + "subtask": "The left gripper places bananal on the left side of the table", + "subtask_index": 7 }, { - "object_name": "yogurt", - "level1": "drink", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null + "subtask": "\nPass the shower spherer to the left gripper\n", + "subtask_index": 8 }, { - "object_name": "power_strip", - "level1": "electric_appliance", - "level2": "power_strip", - "level3": null, - "level4": null, - "level5": null + "subtask": "The left gripper places yogurt on the left side of the table", + "subtask_index": 9 }, { - "object_name": "milk", - "level1": "drink", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null + "subtask": "\nPass the eggplant to the left gripper\n", + "subtask_index": 10 }, { - "object_name": "soda", - "level1": "drink", - "level2": "soda", - "level3": null, - "level4": null, - "level5": null + "subtask": "\nPass the eyeglass case to the left gripper\n", + "subtask_index": 11 }, { - "object_name": "lime", - "level1": "fruit", - "level2": "lime", - "level3": null, - "level4": null, - "level5": null + "subtask": "Use the right gripper to grab the banana on the right side of the table", + "subtask_index": 12 }, { - "object_name": "coffee_capsule", - "level1": "drink", - "level2": "coffee_capsule", - "level3": null, - "level4": null, - "level5": null + "subtask": "The left gripper places eggplant on the left side of the table", + "subtask_index": 13 }, { - "object_name": "dish", - "level1": "container", - "level2": "dish", - "level3": null, - "level4": null, - "level5": null + "subtask": "\nPass the eggplant to the left gripper\n", + "subtask_index": 14 }, { - "object_name": "glass", - "level1": "furniture", - "level2": "glass", - "level3": null, - "level4": null, - "level5": null + "subtask": "Use the right gripper to grab the milk on the right side of the table", + "subtask_index": 15 }, { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null + "subtask": "The left gripper places banana on the left side of the table", + "subtask_index": 16 }, { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", - "level3": null, - "level4": null, - "level5": null + "subtask": "\nPass the Rubik's Cube to the left gripper\n", + "subtask_index": 17 }, { - "object_name": "gum", - "level1": "daily_necessities", - "level2": "gum", - "level3": null, - "level4": null, - "level5": null + "subtask": "Use the right gripper to grab the eggplant on the right side of the table", + "subtask_index": 18 }, { - "object_name": "tape", - "level1": "daily_necessities", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null + "subtask": "Use the right gripper to grab the square chewing gun on the right side of the table", + "subtask_index": 19 }, { - "object_name": "soft_cleanser", - "level1": "daily_necessities", - "level2": "soft_cleanser", - "level3": null, - "level4": null, - "level5": null + "subtask": "Use the right gripper to grab the banana the on right side of the table", + "subtask_index": 20 }, { - "object_name": "chips", - "level1": "food", - "level2": "chips", - "level3": null, - "level4": null, - "level5": null + "subtask": "Use the right gripper to grab the shower sphere on the right side of the table", + "subtask_index": 21 }, { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null + "subtask": "Use the right gripper to grab the bananal on the right side of the table", + "subtask_index": 22 }, { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", - "level3": null, - "level4": null, - "level5": null + "subtask": "The left gripper places shower sphere on the left side of the table", + "subtask_index": 23 }, { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", - "level3": null, - "level4": null, - "level5": null + "subtask": "\nPass the grey towel to the left gripper\n", + "subtask_index": 24 }, { - "object_name": "triangle_bread", - "level1": "food", - "level2": "triangle_bread", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-8540", - "dataset_size": "300.1MB", - "statistics": { - "total_episodes": 40, - "total_frames": 8540, - "total_tasks": 1, - "total_videos": 160, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "f60ef2d6-fc04-4276-b75e-e8b54ab7602c", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the pizza with right gripper", - "Static", - "Place the pizza on the table with right gripper", - "End", - "Grasp the pizza with left gripper", - "Place the pizza on the table with left gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_plug_the_socket": { - "path": "R1_Lite_plug_the_socket", - "dataset_name": "plug_the_socket", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Hold the socket with your right hand and unplug it with your left hand", - "objects": [ + "subtask": "Use the right gripper to grab the blue blackboard erasure on the right side of the table", + "subtask_index": 25 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "\nPass the banana to the left gripper\n", + "subtask_index": 26 }, { - "object_name": "mosquito_repellent_liquid", - "level1": "daily_necessities", - "level2": "mosquito_repellent_liquid", - "level3": null, - "level4": null, - "level5": null + "subtask": "Use the right gripper to grab the purple garbage bag on the right side of the table", + "subtask_index": 27 }, { - "object_name": "plug", - "level1": "electric_appliance", - "level2": "plug", - "level3": null, - "level4": null, - "level5": null + "subtask": "\nPass the purple garbage bag to the left gripper\n", + "subtask_index": 28 }, { - "object_name": "socket", - "level1": "electric_appliance", - "level2": "socket", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-115158", - "dataset_size": "5.1GB", - "statistics": { - "total_episodes": 96, - "total_frames": 115158, - "total_tasks": 1, - "total_videos": 288, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "a456ff6a-8652-485b-a545-1bbcee60a201", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Hold the socket with your right hand and unplug it with your left hand", - "abnormal", - "Pick up the mosquito repellent liquid", - "Place the mosquito repellent liquid on the table", - "Insert the plug into the socket", - "Hold the socket with your left hand and unplug it with your right hand", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_plug_the_socket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_plug_the_socket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_pour_out_the_beauty_blender": { - "path": "AIRBOT_MMK2_pour_out_the_beauty_blender", - "dataset_name": "pour_out_the_beauty_blender", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Place the paper cup on the table with right gripper", - "objects": [ + "subtask": "The left gripper places blue blackboard erasure on the left side of the table", + "subtask_index": 29 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Use the right gripper to grab the eggplant on the right side of the table", + "subtask_index": 30 }, { - "object_name": "marble", - "level1": "toy", - "level2": "marble", - "level3": null, - "level4": null, - "level5": null + "subtask": "Use the right gripper to grab the square chewing gum on the right side of the table", + "subtask_index": 31 }, { - "object_name": "cup", - "level1": "container", - "level2": "cup", - "level3": null, - "level4": null, - "level5": null + "subtask": "The left gripper places square chewing gun on the left side of the table", + "subtask_index": 32 }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null + "subtask": "\nPass the shower sphere to the left gripper\n", + "subtask_index": 33 + }, + { + "subtask": "The left gripper places eyeglass case on the left side of the table", + "subtask_index": 34 + }, + { + "subtask": "Use the right gripper to grab the yogurt on the right side of the table", + "subtask_index": 35 + }, + { + "subtask": "\nPass the blue blackboard erasure to the left gripper\n", + "subtask_index": 36 + }, + { + "subtask": "Use the right gripper to grab the eyeglass case on the right side of the table", + "subtask_index": 37 + }, + { + "subtask": "Use the right gripper to grab the Rubik's Cube on the right side of the table", + "subtask_index": 38 + }, + { + "subtask": "\nPass the milk to the left gripper\n", + "subtask_index": 39 + }, + { + "subtask": "The left gripper places purple garbage bag on the left side of the table", + "subtask_index": 40 + }, + { + "subtask": "null", + "subtask_index": 41 } ], - "operation_platform_height": 77.2, - "frame_range": "0-17577", - "dataset_size": "652.5MB", - "statistics": { - "total_episodes": 47, - "total_frames": 17577, - "total_tasks": 1, - "total_videos": 188, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "9bd6999e-de56-4b21-b103-e3054f98d4ef", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "lift", + "lower", + "handover", + "takeover" ], - "task_categories": [ - "robotics" + "robot_name": [ + "agilex_cobot_magic" ], - "sub_tasks": [ - "Place the paper cup on the table with right gripper", - "Pour the bullets from the paper cup into the bowl with right gripper", - "Static", - "Grasp the paper cup containing bullets with right gripper", - "End", - "Abnormal", - "null" + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "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" }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ + "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": 52998, + "fps": 30, + "total_tasks": 42, + "total_videos": 297, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "508.79 MB" + }, + "frame_num": 52998, + "dataset_size": "508.79 MB", + "data_structure": "Agilex_Cobot_Magic_pass_object_right_to_left_white_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (87 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:98" + }, + "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", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "Cobot_Magic_cut_banana": { - "path": "Cobot_Magic_cut_banana", - "dataset_name": "cut_banana", + "Split_aloha_zip_up_the_document_bag": { + "path": "Split_aloha_zip_up_the_document_bag", + "dataset_name": "zip_up_the_document_bag", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -64218,11 +57871,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "cut", + "pull", "place" ], - "tasks": "Cut the banana with your left hand.", + "tasks": "Pulling up the zipper on the transparent plastic bag with the left gripper to close it", "objects": [ { "object_name": "table", @@ -64233,59 +57885,27 @@ "level5": null }, { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plastic_vegetable_board", - "level1": "tool", - "level2": "plastic_vegetable_board", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "knife_holder", - "level1": "furniture", - "level2": "knife_holder", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "knife", - "level1": "tool", - "level2": "knife", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "fake_banana", - "level1": "toy", - "level2": "fake_banana", + "object_name": "document_bag", + "level1": "office_supplies", + "level2": "document_bag", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-310367", - "dataset_size": "4.2GB", + "frame_range": "0-234815", + "dataset_size": "2.7GB", "statistics": { - "total_episodes": 583, - "total_frames": 310367, - "total_tasks": 2, - "total_videos": 1749, + "total_episodes": 495, + "total_frames": 234815, + "total_tasks": 4, + "total_videos": 1485, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "3637d17f-4a5a-4801-902f-3e5aee09f48b", + "dataset_uuid": "e06c5784-df23-4a4a-b86d-adc2bcf12bae", "language": [ "en", "zh" @@ -64294,15 +57914,13 @@ "robotics" ], "sub_tasks": [ - "Cut the banana with your left hand.", - "Cut the banana with your right hand.", - "Hold the blade with your left hand.", - "Discard the waste.", - "Secure the blade with your left hand.", - "Place the knife on the storage rack with your right hand.", - "Grab the knife handle with your right hand.", - "end", - "Lift the knife with your right hand.", + "Pulling up the zipper on the transparent plastic bag with the left gripper to close it", + "Pulling up the zipper on the transparent plastic bag with the right gripper to close it", + "Static", + "End", + "Pick up the transparent plastic bag with the left gripper", + "Pick up the transparent plastic bag with the right gripper", + "Place the transparent plastic bag", "null" ], "annotations": { @@ -64340,12 +57958,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_cut_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_cut_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Split_aloha_zip_up_the_document_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_zip_up_the_document_bag_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_item_storage": { - "path": "AIRBOT_MMK2_item_storage", - "dataset_name": "item_storage", + "AIRBOT_MMK2_store_wet_wipes_and_bowls": { + "path": "AIRBOT_MMK2_store_wet_wipes_and_bowls", + "dataset_name": "store_wet_wipes_and_bowls", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -64353,271 +57971,57 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "open", + "hold" ], - "tasks": "Grasp the umbrella with the left gripper", + "tasks": "Place the bowl on the plate with the right gripper", "objects": [ { "object_name": "table", "level1": "furniture", - "level2": "able", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "barrel", + "object_name": "bowl", "level1": "container", - "level2": "barrel", + "level2": "bowl", "level3": null, "level4": null, "level5": null }, { - "object_name": "umbrella", + "object_name": "wet_tissue", "level1": "daily_necessities", - "level2": "umbrella", + "level2": "wet_tissue", "level3": null, "level4": null, "level5": null }, { - "object_name": "bottle", + "object_name": "square_plate", "level1": "container", - "level2": "bottle", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lid", - "level1": "daily_necessities", - "level2": "lid", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "level2": "square_plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-18773", - "dataset_size": "717.3MB", - "statistics": { - "total_episodes": 72, - "total_frames": 18773, - "total_tasks": 2, - "total_videos": 288, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "cfed792e-cf1c-4d1f-b6fc-a022e9be4d5e", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the umbrella with the left gripper", - "End", - "Grasp the bowl with the right gripper", - "Grasp the bowl with the left gripper", - "Place the cup into the white basket with the right gripper", - "Static", - "Place the umbrella into the white basket with the left gripper", - "Place the bowl into the yellow basket with the left gripper", - "Place the bowl into the yellow basket with the right gripper", - "Grasp the cup with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_item_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_item_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_opening_and_closing_aalcony_sliding_doors": { - "path": "R1_Lite_opening_and_closing_aalcony_sliding_doors", - "dataset_name": "opening_and_closing_aalcony_sliding_doors", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "push", - "pull" - ], - "tasks": "Close the slid door", - "objects": [ - { - "object_name": "sliding_door", - "level1": "furniture", - "level2": "sliding_door", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-133637", - "dataset_size": "6.9GB", + "frame_range": "0-13058", + "dataset_size": "425.0MB", "statistics": { - "total_episodes": 101, - "total_frames": 133637, + "total_episodes": 50, + "total_frames": 13058, "total_tasks": 1, - "total_videos": 303, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "4d71497e-4f98-487e-8f46-e2a076016680", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Close the slid door", - "Open the slid door", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_plate_storage_apple": { - "path": "Cobot_Magic_plate_storage_apple", - "dataset_name": "plate_storage_apple", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Grasp the fruit that can keep the doctor away", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "apple", - "level1": "fruit", - "level2": "apple", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-30676", - "dataset_size": "605.5MB", - "statistics": { - "total_episodes": 103, - "total_frames": 30676, - "total_tasks": 1, - "total_videos": 309, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 50 - }, - "dataset_uuid": "4c90a2cc-aea8-4468-a7c2-b0afeae50a98", + "dataset_uuid": "de8bf908-6d6b-42fb-9298-29fa21a3fc8d", "language": [ "en", "zh" @@ -64626,8 +58030,12 @@ "robotics" ], "sub_tasks": [ - "Grasp the fruit that can keep the doctor away", - "Place the picked object into the yellow plate", + "Place the bowl on the plate with the right gripper", + "Static", + "Grasp the wet wipes with the left gripper", + "Grasp the bowl with the right gripper", + "End", + "Place the wet wipes into the bowl with the left gripper", "null" ], "annotations": { @@ -64665,10 +58073,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_store_wet_wipes_and_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galaxea_R1_Lite_mix_red_yellow_right": { + "Airbot_MMK2_take_part_both_hands": { "task_categories": [ "robotics" ], @@ -64698,11 +58106,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_mix_red_yellow_right", + "dataset_name": "Airbot_MMK2_take_part_both_hands", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "office_workspace", - "level2": "office", + "level1": "household", + "level2": "living_room", "level3": null, "level4": null, "level5": null @@ -64710,49 +58118,25 @@ "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", + "object_name": "item", + "level1": "item", + "level2": "item", "level3": null, "level4": null, "level5": null }, { - "object_name": "test_tubes", - "level1": "laboratory_supplies", - "level2": "test_tubes", + "object_name": "square_building_blocks", + "level1": "building_blocks", + "level2": "square_building_blocks", "level3": null, "level4": null, "level5": null }, { - "object_name": "beaker", - "level1": "holding_utensils", - "level2": "beaker", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null @@ -64760,88 +58144,55 @@ ], "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 red pigment by grippers and pour them into the beaker." + "take the items off the building blocks with both hands and place them on the table." ], "sub_tasks": [ { - "subtask": "Place the test tube into the bowl with right gripper", + "subtask": "Grasp the steel tube on the cube block with the right gripper", "subtask_index": 0 }, { - "subtask": "Pick up the test tube containing the yellow reagent with right gripper", + "subtask": "Grasp the steel tube on the cube block with the left gripper", "subtask_index": 1 }, { - "subtask": "Place the test tube into the pink bowl with the right gripper", + "subtask": "Place the steel tube on the table with the left gripper", "subtask_index": 2 }, { - "subtask": "Grasp the yellow reagent with the right gripper", + "subtask": "Place the steel tube on the table with the right gripper", "subtask_index": 3 }, - { - "subtask": "Grasp the red reagent with the right gripper", - "subtask_index": 4 - }, - { - "subtask": "Pick up the test tube containing the red reagent with right gripper", - "subtask_index": 5 - }, - { - "subtask": "Place the test tube into the bowl with the right gripper", - "subtask_index": 6 - }, - { - "subtask": "Pour the yellow reagent into the graduated cylinder with the right gripper", - "subtask_index": 7 - }, - { - "subtask": "Pour the red reagent into the graduated cylinder with right gripper", - "subtask_index": 8 - }, { "subtask": "End", - "subtask_index": 9 - }, - { - "subtask": "Pour the yellow reagent into the graduated cylinder with right gripper", - "subtask_index": 10 - }, - { - "subtask": "Pour the red reagent into the graduated cylinder with the right gripper", - "subtask_index": 11 - }, - { - "subtask": "end", - "subtask_index": 12 + "subtask_index": 4 }, { "subtask": "null", - "subtask_index": 13 + "subtask_index": 5 } ], "atomic_actions": [ "grasp", "pick", - "place", - "pour" + "place" ], "robot_name": [ - "Galaxea_R1_Lite" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "end_effector_type": "five_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_left_rgb", - "cam_head_right_rgb", + "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "cam_right_wrist_rgb", + "cam_front_rgb" ], "came_info": { - "cam_head_left_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_head_right_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p" + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", @@ -64858,30 +58209,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 99, - "total_frames": 61864, + "total_episodes": 50, + "total_frames": 6348, "fps": 30, - "total_tasks": 14, - "total_videos": 396, + "total_tasks": 6, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, + "state_dim": 36, + "action_dim": 36, "camera_views": 4, - "dataset_size": "1.22 GB" + "dataset_size": "239.11 MB" }, - "frame_num": 61864, - "dataset_size": "1.22 GB", - "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_yellow_right_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (87 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 6348, + "dataset_size": "239.11 MB", + "data_structure": "Airbot_MMK2_take_part_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| `-- ... (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": "0:98" + "train": "0:49" }, "features": { - "observation.images.cam_head_left_rgb": { + "observation.images.cam_head_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -64890,8 +58241,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -64900,11 +58251,11 @@ "has_audio": false } }, - "observation.images.cam_head_right_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -64913,8 +58264,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -64923,10 +58274,10 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 360, + 480, 640, 3 ], @@ -64936,7 +58287,7 @@ "channels" ], "info": { - "video.height": 360, + "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -64946,10 +58297,10 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_front_rgb": { "dtype": "video", "shape": [ - 360, + 480, 640, 3 ], @@ -64959,7 +58310,7 @@ "channels" ], "info": { - "video.height": 360, + "video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -64972,7 +58323,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 14 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -64987,14 +58338,36 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "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": [ - 14 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -65009,8 +58382,30 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "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": { @@ -65161,142 +58556,98 @@ 2 ], "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Galbot_g1_steamer_storage_baozi_g": { + "path": "Galbot_g1_steamer_storage_baozi_g", + "dataset_name": "steamer_storage_baozi_g", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the pot lid with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, - "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" + { + "object_name": "baozi", + "level1": "food", + "level2": "baozi", + "level3": null, + "level4": null, + "level5": null }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - } - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" - } - ] - }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" - }, - "Split_aloha_basket_storage_bread": { - "path": "Split_aloha_basket_storage_bread", - "dataset_name": "basket_storage_bread", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "abnormal", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "steamer", + "level1": "cookware", + "level2": "steamer", "level3": null, "level4": null, "level5": null }, { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", + "object_name": "pot_lid", + "level1": "daily_necessities", + "level2": "pot_lid", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-211779", - "dataset_size": "4.3GB", + "operation_platform_height": null, + "frame_range": "0-87860", + "dataset_size": "1.6GB", "statistics": { - "total_episodes": 497, - "total_frames": 211779, - "total_tasks": 4, - "total_videos": 1491, + "total_episodes": 89, + "total_frames": 87860, + "total_tasks": 1, + "total_videos": 267, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "c86fb8b5-8845-4798-9c83-f3a7aec176f7", + "dataset_uuid": "fc0c05a2-5b0d-4aa4-9329-eb16047d2f03", "language": [ "en", "zh" @@ -65305,10 +58656,11 @@ "robotics" ], "sub_tasks": [ - "abnormal", - "Pick up the bread", - "Move the basket to the center of view", - "place the bread into the basket", + "Grasp the pot lid with left gripper", + "Place the pot lid on the steamer with left gripper", + "End", + "Place the baozi on the steamer with right gripper", + "Grasp the baozi in the plate with right gripper", "null" ], "annotations": { @@ -65346,12 +58698,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Galbot_g1_steamer_storage_baozi_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Galbot_g1_steamer_storage_baozi_g_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AgiBot-g1_storage_item_e": { - "path": "AgiBot-g1_storage_item_e", - "dataset_name": "storage_item_e", + "R1_Lite_open_and_close_curtains": { + "path": "R1_Lite_open_and_close_curtains", + "dataset_name": "open_and_close_curtains", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -65359,57 +58711,33 @@ "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "Grab and lift both the mouse and power cord from the accessory packaging area at the same time", + "tasks": "Pull the outeouter curtains open on both sides with the both gripper", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "data_cable", - "level1": "tool", - "level2": "data_cable", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "mouse", - "level1": "tool", - "level2": "mouse", + "object_name": "curtains", + "level1": "clothing", + "level2": "curtains", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-212067", - "dataset_size": "92.8GB", + "frame_range": "0-226694", + "dataset_size": "8.5GB", "statistics": { - "total_episodes": 507, - "total_frames": 212067, + "total_episodes": 98, + "total_frames": 226694, "total_tasks": 1, - "total_videos": 4056, + "total_videos": 294, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "6d8ca1f6-f9cf-4b0c-bef5-fca799793086", + "dataset_uuid": "184bad58-5213-4be2-bb93-7c6d271bf034", "language": [ "en", "zh" @@ -65418,8 +58746,18 @@ "robotics" ], "sub_tasks": [ - "Grab and lift both the mouse and power cord from the accessory packaging area at the same time", - "Place the mouse and power cord into the box", + "Pull the outeouter curtains open on both sides with the both gripper", + "Pull the outer curtains open on both sides", + "End", + "Pull the inner curtains open on both sides", + "Close the outer curtains on both sides", + "Pull the inner curtains open on left sides with the left gripper", + "Close the right inner curtain with the right gripper", + "Pull the inner curtains open on right sides with the right gripper", + "Close the left inner curtain with the left gripper", + "Close the outeouter curtains on both sides with the both gripper", + "Close the inner curtains on both sides", + "abnormal", "null" ], "annotations": { @@ -65457,15 +58795,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_open_and_close_curtains_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_open_and_close_curtains_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galbot_g1_steamer_storage_baozi_c": { - "path": "Galbot_g1_steamer_storage_baozi_c", - "dataset_name": "steamer_storage_baozi_c", + "leju_robot_moving_parts_c": { + "path": "leju_robot_moving_parts_c", + "dataset_name": "moving_parts_c", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ @@ -65473,7 +58811,7 @@ "pick", "place" ], - "tasks": "Grasp the pot lid with left gripper", + "tasks": "Place the white part on the table with left gripper", "objects": [ { "object_name": "table", @@ -65484,51 +58822,35 @@ "level5": null }, { - "object_name": "baozi", - "level1": "food", - "level2": "baozi", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "steamer", - "level1": "cookware", - "level2": "steamer", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pot_lid", - "level1": "daily_necessities", - "level2": "pot_lid", + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-226059", - "dataset_size": "4.0GB", + "frame_range": "0-716756", + "dataset_size": "44.0GB", "statistics": { - "total_episodes": 207, - "total_frames": 226059, + "total_episodes": 490, + "total_frames": 716756, "total_tasks": 1, - "total_videos": 621, + "total_videos": 1470, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "9e52b78e-5521-46bc-a8f7-c30253014025", + "dataset_uuid": "7aa945d0-afcc-41a9-bc85-6d19914ec42d", "language": [ "en", "zh" @@ -65537,12 +58859,18 @@ "robotics" ], "sub_tasks": [ - "Grasp the pot lid with left gripper", - "Abnormal", - "Place the pot lid on the steamer with left gripper", + "Place the white part on the table with left gripper", + "Grasp the white part with left gripper", + "Place the gray part on the table with right gripper", + "Grasp the gray part with right gripper", "End", - "Place the baozi on the steamer with right gripper", - "Grasp the baozi in the plate with right gripper", + "Return to the initial position at the workbench.", + "Move the small component to the workbench.", + "Place the white part on the table with right gripper", + "Insert the small component into the corresponding slot on the workbench.", + "Pick up the small component from the shelf.", + "Move to the table behind body", + "Grasp the white part with right gripper", "null" ], "annotations": { @@ -65580,10 +58908,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Galbot_g1_steamer_storage_baozi_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Galbot_g1_steamer_storage_baozi_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_moving_parts_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "agilex_cobot_magic_pass_object_right_to_left_khaki_tablecloth": { + "Agilex_Cobot_Magic_close_drawer_top": { "task_categories": [ "robotics" ], @@ -65613,11 +58941,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "agilex_cobot_magic_pass_object_right_to_left_khaki_tablecloth", + "dataset_name": "Agilex_Cobot_Magic_close_drawer_top", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "commercial_convenience", - "level2": "supermarket", + "level1": "office_workspace", + "level2": "office", "level3": null, "level4": null, "level5": null @@ -65633,137 +58961,9 @@ "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": "khaki_table_cloths", + "object_name": "three_layer_transparent_drawer", "level1": "laboratory_supplies", - "level2": "khaki_table_cloths", + "level2": "three_layer_transparent_drawer", "level3": null, "level4": null, "level5": null @@ -65771,27 +58971,32 @@ ], "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." + "close the top drawer." ], "sub_tasks": [ { - "subtask": "Unlabeled", + "subtask": "End", "subtask_index": 0 }, { - "subtask": "null", + "subtask": "Push the top drawer closed", "subtask_index": 1 + }, + { + "subtask": "Use the right gripper to touch the topmost layer of the storage cabinet", + "subtask_index": 2 + }, + { + "subtask": "null", + "subtask_index": 3 } ], "atomic_actions": [ "grasp", - "lift", - "lower", - "handover", - "takeover" + "push" ], "robot_name": [ - "agilex_cobot_magic" + "Agilex_Cobot_Magic" ], "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", @@ -65820,23 +59025,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 98, - "total_frames": 64158, + "total_episodes": 50, + "total_frames": 9800, "fps": 30, - "total_tasks": 2, - "total_videos": 294, + "total_tasks": 4, + "total_videos": 150, "total_chunks": 1, "chunks_size": 1000, "state_dim": 26, "action_dim": 26, "camera_views": 3, - "dataset_size": "749.82 MB" + "dataset_size": "96.54 MB" }, - "frame_num": 64158, - "dataset_size": "749.82 MB", - "data_structure": "Agilex_Cobot_Magic_pass_object_right_to_left_khaki_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (86 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 9800, + "dataset_size": "96.54 MB", + "data_structure": "Agilex_Cobot_Magic_close_drawer_top_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:97" + "train": "0:49" }, "features": { "observation.images.cam_head_rgb": { @@ -66013,17 +59218,17 @@ }, "subtask_annotation": { "names": null, + "dtype": "int32", "shape": [ 5 - ], - "dtype": "int32" + ] }, "scene_annotation": { "names": null, + "dtype": "int32", "shape": [ 1 - ], - "dtype": "int32" + ] }, "eef_sim_pose_state": { "names": [ @@ -66040,10 +59245,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_sim_pose_action": { "names": [ @@ -66060,110 +59265,110 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_mode_state": { "names": [ "left_gripper_mode", "right_gripper_mode" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_mode_action": { "names": [ "left_gripper_mode", "right_gripper_mode" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_activity_state": { "names": [ "left_gripper_activity", "right_gripper_activity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_activity_action": { "names": [ "left_gripper_activity", "right_gripper_activity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_open_scale_state": { "names": [ @@ -66207,18 +59412,18 @@ "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" }, - "R1_Lite_move_the_position_of_the_orange": { - "path": "R1_Lite_move_the_position_of_the_orange", - "dataset_name": "move_the_position_of_the_orange", + "AIRBOT_MMK2_mobile_phone_storage": { + "path": "AIRBOT_MMK2_mobile_phone_storage", + "dataset_name": "mobile_phone_storage", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ - "place", + "grasp", "pick", - "grasp" + "place" ], "tasks": "End", "objects": [ @@ -66231,355 +59436,35 @@ "level5": null }, { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bath_ball", - "level1": "daily_necessities", - "level2": "bath_ball", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "can", - "level1": "container", - "level2": "can", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "hard_cleanser", - "level1": "daily_necessities", - "level2": "hard_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peeler", - "level1": "tool", - "level2": "peeler", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "block", - "level1": "toy", - "level2": "block", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "duck", - "level1": "toy", - "level2": "duck", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soap", - "level1": "daily_necessities", - "level2": "soap", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "basket", - "level1": "container", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cola", - "level1": "drink", - "level2": "cola", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "detergent", - "level1": "daily_necessities", - "level2": "detergent", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_beater", - "level1": "electrical_appliances", - "level2": "egg_beater", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "marker", - "level1": "office_supplies", - "level2": "marker", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rubiks_cube", - "level1": "toy", - "level2": "rubiks_cube", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread_slice", - "level1": "food", - "level2": "bread_slice", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "brush", - "level1": "daily_necessities", - "level2": "brush", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yogurt", - "level1": "drink", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "power_strip", - "level1": "electric_appliance", - "level2": "power_strip", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "milk", - "level1": "drink", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soda", - "level1": "drink", - "level2": "soda", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lime", - "level1": "fruit", - "level2": "lime", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "coffee_capsule", - "level1": "drink", - "level2": "coffee_capsule", + "object_name": "mobile_phone", + "level1": "communication_supplies", + "level2": "mobile_phone", "level3": null, "level4": null, "level5": null }, { - "object_name": "dish", + "object_name": "calculator_box", "level1": "container", - "level2": "dish", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glass", - "level1": "furniture", - "level2": "glass", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "gum", - "level1": "daily_necessities", - "level2": "gum", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tape", - "level1": "daily_necessities", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soft_cleanser", - "level1": "daily_necessities", - "level2": "soft_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chips", - "level1": "food", - "level2": "chips", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", + "level2": "calculator_box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-15074", - "dataset_size": "550.2MB", + "frame_range": "0-9492", + "dataset_size": "496.3MB", "statistics": { - "total_episodes": 42, - "total_frames": 15074, + "total_episodes": 49, + "total_frames": 9492, "total_tasks": 1, - "total_videos": 168, + "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "5cff8c7f-bc80-41be-87f4-5cc1b132ed1c", + "dataset_uuid": "ae74a19b-7e4c-4f10-b378-faa014a9f006", "language": [ "en", "zh" @@ -66589,11 +59474,12 @@ ], "sub_tasks": [ "End", - "Place the orange on the table with right gripper", - "Grasp the orange with right gripper", - "Place the orange on the table with left gripper", - "Grasp the orange with left gripper", + "Place the telephone on the table with the right gripper", "Static", + "Place the telephone on the box with the left gripper", + "Grasp the telephone with the left gripper", + "Grasp the telephone with the right gripper", + "Abnormal", "null" ], "annotations": { @@ -66631,10 +59517,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_mobile_phone_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_slide_tape_onto_can": { + "Airbot_MMK2_take_bowl_sponge": { "task_categories": [ "robotics" ], @@ -66664,7 +59550,7 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_slide_tape_onto_can", + "dataset_name": "Airbot_MMK2_take_bowl_sponge", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { "level1": "household", @@ -66676,17 +59562,25 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "early_education_toys", - "level1": "toys", - "level2": "early_education_toys", + "object_name": "cleaning_sponge", + "level1": "cleaning", + "level2": "cleaning_sponge", "level3": null, "level4": null, "level5": null }, { - "object_name": "beverages", - "level1": "beverages", - "level2": "beverages", + "object_name": "bowl", + "level1": "bowl", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null @@ -66694,31 +59588,31 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "pick up the rings with left and right hands respectively and place them on the beverage cans." + "pick up the sponge and bowl by hand and place them on the table." ], "sub_tasks": [ { - "subtask": "Grasp the transparent circular ring on the left with the left gripper", + "subtask": "Place the sponge on the table with the left gripper", "subtask_index": 0 }, { - "subtask": "Place the transparent circular ring on the left onto the fanta in the middle with left gripper", + "subtask": "Abnormal", "subtask_index": 1 }, { - "subtask": "Place the transparent circular ring on the right onto the fanta in the middle with right gripper", + "subtask": "Grasp the sponge on the white basket and with the left gripper", "subtask_index": 2 }, { - "subtask": "Abnormal", + "subtask": "Grasp the bowl on the white basket and with the right gripper", "subtask_index": 3 }, { - "subtask": "Grasp the transparent circular ring on the right with the right gripper", + "subtask": "End", "subtask_index": 4 }, { - "subtask": "End", + "subtask": "Place the bowl on the table with the right gripper", "subtask_index": 5 }, { @@ -66763,23 +59657,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 44, - "total_frames": 10133, + "total_episodes": 42, + "total_frames": 11308, "fps": 30, "total_tasks": 7, - "total_videos": 176, + "total_videos": 168, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "490.04 MB" + "dataset_size": "373.70 MB" }, - "frame_num": 10133, - "dataset_size": "490.04 MB", - "data_structure": "Airbot_MMK2_slide_tape_onto_can_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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", + "frame_num": 11308, + "dataset_size": "373.70 MB", + "data_structure": "Airbot_MMK2_take_bowl_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| `-- ... (30 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" + "train": "0:41" }, "features": { "observation.images.cam_head_rgb": { @@ -67133,20 +60027,46 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "R1_Lite_move_the_position_of_the_spoon": { - "path": "R1_Lite_move_the_position_of_the_spoon", - "dataset_name": "move_the_position_of_the_spoon", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" + "Airbot_MMK2_storage_tumbler_umbrella": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "place", - "pick", - "grasp" + "language": [ + "en" ], - "tasks": "Grasp the spoon with right gripper", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_storage_tumbler_umbrella", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "living_room", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { "object_name": "table", @@ -67157,129 +60077,735 @@ "level5": null }, { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", + "object_name": "basket", + "level1": "home_storage", + "level2": "basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", + "object_name": "umbrella", + "level1": "tool", + "level2": "umbrella", "level3": null, "level4": null, "level5": null }, { - "object_name": "bath_ball", - "level1": "daily_necessities", - "level2": "bath_ball", + "object_name": "tumbler", + "level1": "container", + "level2": "tumbler", "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 umbrella with left hand and put it in the basket, then use right hand to pick up the thermos and put it in the basket." + ], + "sub_tasks": [ + { + "subtask": "Place the cup into the white basket with the right gripper", + "subtask_index": 0 }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the umbrella with the left gripper", + "subtask_index": 1 }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the umbrella into the white basket with the left gripper", + "subtask_index": 2 }, { - "object_name": "can", - "level1": "container", - "level2": "can", - "level3": null, - "level4": null, - "level5": null + "subtask": "Static", + "subtask_index": 3 }, { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 4 }, { - "object_name": "hard_cleanser", - "level1": "daily_necessities", - "level2": "hard_cleanser", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the cup with the right gripper", + "subtask_index": 5 }, { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null + "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": 48, + "total_frames": 14373, + "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": "542.57 MB" + }, + "frame_num": 14373, + "dataset_size": "542.57 MB", + "data_structure": "Airbot_MMK2_storage_tumbler_umbrella_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (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 + } }, - { - "object_name": "peeler", - "level1": "tool", - "level2": "peeler", - "level3": null, - "level4": null, - "level5": null + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "block", - "level1": "toy", - "level2": "block", - "level3": null, - "level4": null, - "level5": null + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "duck", - "level1": "toy", - "level2": "duck", - "level3": null, - "level4": null, - "level5": null + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Cobot_Magic_take_out_a_pen_from_the_pen_holder": { + "path": "Cobot_Magic_take_out_a_pen_from_the_pen_holder", + "dataset_name": "take_out_a_pen_from_the_pen_holder", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the pen on the table with the left gripper", + "objects": [ { - "object_name": "soap", - "level1": "daily_necessities", - "level2": "soap", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "box", - "level1": "container", - "level2": "box", + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", + "object_name": "pen_holder", + "level1": "office_supplies", + "level2": "pen_holder", "level3": null, "level4": null, "level5": null }, { - "object_name": "cola", - "level1": "drink", - "level2": "cola", + "object_name": "tablecloth", + "level1": "fabric", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-225692", + "dataset_size": "6.5GB", + "statistics": { + "total_episodes": 488, + "total_frames": 225692, + "total_tasks": 5, + "total_videos": 1464, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "836047ba-9812-4f07-b6bd-1d98e5c01c1d", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the pen on the table with the left gripper", + "Abnormal", + "End", + "Pick up the pen with the left gripper", + "Pick up the pen from the pen holder", + "Place the pen on the table with the right gripper", + "Pick up the pen with the right gripper", + "Place the pen on the table", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_take_out_a_pen_from_the_pen_holder_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_move_the_position_of_the_long_bread": { + "path": "R1_Lite_move_the_position_of_the_long_bread", + "dataset_name": "move_the_position_of_the_long_bread", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Grasp the long bread with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bath_ball", + "level1": "daily_necessities", + "level2": "bath_ball", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "can", + "level1": "container", + "level2": "can", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "hard_cleanser", + "level1": "daily_necessities", + "level2": "hard_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peeler", + "level1": "tool", + "level2": "peeler", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "block", + "level1": "toy", + "level2": "block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "duck", + "level1": "toy", + "level2": "duck", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soap", + "level1": "daily_necessities", + "level2": "soap", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cola", + "level1": "drink", + "level2": "cola", "level3": null, "level4": null, "level5": null @@ -67494,18 +61020,18 @@ } ], "operation_platform_height": 77.2, - "frame_range": "0-6550", - "dataset_size": "212.3MB", + "frame_range": "0-9249", + "dataset_size": "344.7MB", "statistics": { - "total_episodes": 23, - "total_frames": 6550, + "total_episodes": 31, + "total_frames": 9249, "total_tasks": 1, - "total_videos": 92, + "total_videos": 124, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "ab8d31a7-973b-4328-b3dc-f79488af764f", + "dataset_uuid": "bdee9310-93d0-4808-a0ad-4ca01b25ac9f", "language": [ "en", "zh" @@ -67514,12 +61040,13 @@ "robotics" ], "sub_tasks": [ - "Grasp the spoon with right gripper", - "Grasp the spoon with left gripper", - "Place the spoon on the table with left gripper", + "Grasp the long bread with right gripper", + "Grasp the long bread with left gripper", + "Place the long bread on the table with right gripper", + "Place the long bread on the table with left gripper", + "Abnormal", "Static", "End", - "Place the spoon on the table with right gripper", "null" ], "annotations": { @@ -67557,549 +61084,122 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_long_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_hotel_services_ac": { - "path": "leju_robot_hotel_services_ac", - "dataset_name": "hotel_services_ac", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" + "Airbot_MMK2_take_electronics": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" ], - "tasks": "Pick up the key card from the card box.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_take_electronics", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "industry", + "level2": "factory", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ { - "object_name": "card", - "level1": "nfc", - "level2": "card", + "object_name": "paper_boxes", + "level1": "baskets", + "level2": "paper_boxes", "level3": null, "level4": null, "level5": null }, { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", + "object_name": "lid", + "level1": "storage_utensils", + "level2": "lid", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-73697", - "dataset_size": "4.7GB", - "statistics": { - "total_episodes": 431, - "total_frames": 73697, - "total_tasks": 1, - "total_videos": 1293, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "ff64c171-6616-4c0a-9876-42719e539bbf", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "take the calculator box and mouse box off the lid and place them on the table." ], "sub_tasks": [ - "Pick up the key card from the card box.", - "Hand the key card to the target.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_moving_parts_q": { - "path": "leju_robot_moving_parts_q", - "dataset_name": "moving_parts_q", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the black part on the table with right gripper", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Abnormal", + "subtask_index": 0 }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the mouse box on the table with the left gripper", + "subtask_index": 1 }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the calculator box on the white lid and with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Grasp the mouse box on the white lid and with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "End", + "subtask_index": 4 + }, + { + "subtask": "Place the calculator box on the table with the right gripper", + "subtask_index": 5 + }, + { + "subtask": "null", + "subtask_index": 6 } ], - "operation_platform_height": null, - "frame_range": "0-756932", - "dataset_size": "51.9GB", - "statistics": { - "total_episodes": 494, - "total_frames": 756932, - "total_tasks": 1, - "total_videos": 1482, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "1632a2f6-2fac-45cf-b9d6-7088ebda0870", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Airbot_MMK2" ], - "sub_tasks": [ - "Place the black part on the table with right gripper", - "Pick up the large material from the shelf.", - "Insert the large material into the corresponding slot on the workbench.", - "End", - "Grasp the black part with right gripper", - "Move the large material to the workbench.", - "Move to the initial position of the shelf.", - "Move to the table behind body", - "null" + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "G1edu-u3_put_the_bread_aw": { - "path": "G1edu-u3_put_the_bread_aw", - "dataset_name": "put_the_bread_aw", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place" - ], - "tasks": "Place the long bread on the table with left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread", - "level1": "food", - "level2": "bread", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-5153", - "dataset_size": "65.2MB", - "statistics": { - "total_episodes": 26, - "total_frames": 5153, - "total_tasks": 1, - "total_videos": 26, - "total_chunks": 1, - "chunks_size": 26, - "fps": 30 - }, - "dataset_uuid": "e6db4b80-8fbb-4767-b613-734d0e088946", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the long bread on the table with left gripper", - "End", - "Place the long bread on the table with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_fold_towel_a": { - "path": "Cobot_Magic_fold_towel_a", - "dataset_name": "fold_towel_a", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "fold" - ], - "tasks": "pick up the towel with two arm", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-50478", - "dataset_size": "1.7GB", - "statistics": { - "total_episodes": 96, - "total_frames": 50478, - "total_tasks": 1, - "total_videos": 288, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 50 - }, - "dataset_uuid": "2d50475c-06c8-47bd-a56f-c0d235e1835a", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "pick up the towel with two arm", - "Fold the towel twice on the table", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_storage_bowl_wet_wipes": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } - ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_bowl_wet_wipes", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "commercial_convenience", - "level2": "supermarket", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", - "objects": [ - { - "object_name": "table", - "level1": "home_storage", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plastic_bowls", - "level1": "kitchen_supplies", - "level2": "plastic_bowls", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rectangular_plate", - "level1": "kitchen_supplies", - "level2": "rectangular_plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "wet_tissue_paper", - "level1": "kitchen_supplies", - "level2": "wet_tissue_paper", - "level3": null, - "level4": null, - "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "put the bowl and wet wipes on the plate." - ], - "sub_tasks": [ - { - "subtask": "Place the wet wipes into the bowl with the left gripper", - "subtask_index": 0 - }, - { - "subtask": "Place the bowl on the plate with the right gripper", - "subtask_index": 1 - }, - { - "subtask": "Static", - "subtask_index": 2 - }, - { - "subtask": "Grasp the wet wipes with the left gripper", - "subtask_index": 3 - }, - { - "subtask": "End", - "subtask_index": 4 - }, - { - "subtask": "Grasp the bowl with the right gripper", - "subtask_index": 5 - }, - { - "subtask": "null", - "subtask_index": 6 - } - ], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "robot_name": [ - "Airbot_MMK2" - ], - "end_effector_type": "five_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" - ], - "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "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", @@ -68116,23 +61216,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 50, - "total_frames": 13058, + "total_episodes": 49, + "total_frames": 13465, "fps": 30, "total_tasks": 7, - "total_videos": 200, + "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "425.41 MB" + "dataset_size": "400.20 MB" }, - "frame_num": 13058, - "dataset_size": "425.41 MB", - "data_structure": "Airbot_MMK2_storage_bowl_wet_wipes_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_front_rgb\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 13465, + "dataset_size": "400.20 MB", + "data_structure": "Airbot_MMK2_take_electronics_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (37 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", "splits": { - "train": "0:49" + "train": "0:48" }, "features": { "observation.images.cam_head_rgb": { @@ -68486,20 +61586,20 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_storage_box_for_mouse_and_sponge": { - "path": "AIRBOT_MMK2_storage_box_for_mouse_and_sponge", - "dataset_name": "storage_box_for_mouse_and_sponge", + "Cobot_Magic_take_out_the_bread": { + "path": "Cobot_Magic_take_out_the_bread", + "dataset_name": "take_out_the_bread", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "place", + "pick" ], - "tasks": "Grasp the sponge with the right gripper", + "tasks": "use the right arm to put a slice of bread into the plate", "objects": [ { "object_name": "table", @@ -68510,43 +61610,51 @@ "level5": null }, { - "object_name": "mouse_box", - "level1": "container", - "level2": "mouse_box", + "object_name": "bread_machine", + "level1": "kitchenware", + "level2": "bread_machine", "level3": null, "level4": null, "level5": null }, { - "object_name": "sponge", - "level1": "daily_necessities", - "level2": "sponge", + "object_name": "bread", + "level1": "food", + "level2": "bread", "level3": null, "level4": null, "level5": null }, { - "object_name": "round_plate", + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", "level1": "container", - "level2": "round_plate", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-9471", - "dataset_size": "299.3MB", + "frame_range": "0-333147", + "dataset_size": "15.1GB", "statistics": { - "total_episodes": 49, - "total_frames": 9471, - "total_tasks": 1, - "total_videos": 196, + "total_episodes": 588, + "total_frames": 333147, + "total_tasks": 6, + "total_videos": 1764, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "2c6237a9-4c9b-45ce-bd08-c48c42462c93", + "dataset_uuid": "2fb93e01-1b87-444e-8fef-493ab51a3c3f", "language": [ "en", "zh" @@ -68555,13 +61663,10 @@ "robotics" ], "sub_tasks": [ - "Grasp the sponge with the right gripper", - "Static", - "Place the box on the white plate with the left gripper", - "End", - "Abnormal", - "Place the sponge on the white plate with the right gripper", - "Grasp the box with the left gripper", + "use the right arm to put a slice of bread into the plate", + "use the left arm to put a slice of bread into the empty plate", + "use the left arm to take out a slice of bread", + "use the right arm to take out a slice of bread", "null" ], "annotations": { @@ -68599,538 +61704,119 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_take_out_the_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_take_out_the_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_storage_cup": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" + "Cobot_Magic_mobile_cube": { + "path": "Cobot_Magic_mobile_cube", + "dataset_name": "mobile_cube", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_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.", + "tasks": "End", "objects": [ { - "object_name": "any_cup", - "level1": "cups", - "level2": "any_cup", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "basin", - "level1": "storage_utensils", - "level2": "basin", + "object_name": "cube_block", + "level1": "toy", + "level2": "cube_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": [ - "put the two cups in the basin." + "operation_platform_height": 77.2, + "frame_range": "0-21487", + "dataset_size": "347.9MB", + "statistics": { + "total_episodes": 99, + "total_frames": 21487, + "total_tasks": 1, + "total_videos": 297, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ec621804-bf42-4f9d-971a-bbe5cb197144", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" ], "sub_tasks": [ - { - "subtask": "place the cup in the yellow basket use the right gripper", - "subtask_index": 0 - }, - { - "subtask": "Grasp the cup the left gripper", - "subtask_index": 1 - }, - { - "subtask": "Lift the cup the right gripper", - "subtask_index": 2 - }, - { - "subtask": "place the cup in the basin use the left gripper", - "subtask_index": 3 - }, - { - "subtask": "Grasp the cup the right gripper", - "subtask_index": 4 - }, - { - "subtask": "place the cup in the yellow basket use the left gripper", - "subtask_index": 5 - }, - { - "subtask": "place the cup in the basin use the right gripper", - "subtask_index": 6 - }, - { - "subtask": "Static", - "subtask_index": 7 - }, - { - "subtask": "Lift the cup the left gripper", - "subtask_index": 8 - }, - { - "subtask": "End", - "subtask_index": 9 - }, - { - "subtask": "null", - "subtask_index": 10 - } - ], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "robot_name": [ - "Airbot_MMK2" - ], - "end_effector_type": "five_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" - ], - "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" - }, - "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", - "annotations": [ - "eef_acc_mag_annotation.jsonl", - "eef_direction_annotation.jsonl", - "eef_velocity_annotation.jsonl", - "gripper_activity_annotation.jsonl", - "gripper_mode_annotation.jsonl", - "scene_annotations.jsonl", - "subtask_annotations.jsonl" + "End", + "Pick up the small cube", + "Place the small cube on the ahead of the table", + "null" ], - "statistics": { - "total_episodes": 99, - "total_frames": 20190, - "fps": 30, - "total_tasks": 11, - "total_videos": 396, - "total_chunks": 1, - "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "802.42 MB" - }, - "frame_num": 20190, - "dataset_size": "802.42 MB", - "data_structure": "Airbot_MMK2_storage_cup_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (87 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", - "splits": { - "train": "0:98" - }, - "features": { - "observation.images.cam_head_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_left_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_right_wrist_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_front_rgb": { - "dtype": "video", - "shape": [ - 480, - 640, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 480, - "video.width": 640, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.state": { - "dtype": "float32", - "shape": [ - 36 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" - ] - }, - "action": { - "dtype": "float32", - "shape": [ - 36 - ], - "names": [ - "left_arm_joint_1_rad", - "left_arm_joint_2_rad", - "left_arm_joint_3_rad", - "left_arm_joint_4_rad", - "left_arm_joint_5_rad", - "left_arm_joint_6_rad", - "right_arm_joint_1_rad", - "right_arm_joint_2_rad", - "right_arm_joint_3_rad", - "right_arm_joint_4_rad", - "right_arm_joint_5_rad", - "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" - ] - }, - "timestamp": { - "dtype": "float32", - "shape": [ - 1 - ], - "names": null - }, - "frame_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "episode_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "task_index": { - "dtype": "int64", - "shape": [ - 1 - ], - "names": null - }, - "subtask_annotation": { - "names": null, - "shape": [ - 5 - ], - "dtype": "int32" - }, - "scene_annotation": { - "names": null, - "shape": [ - 1 - ], - "dtype": "int32" - }, - "eef_sim_pose_state": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" - }, - "eef_sim_pose_action": { - "names": [ - "left_eef_pos_x", - "left_eef_pos_y", - "left_eef_pos_z", - "left_eef_rot_x", - "left_eef_rot_y", - "left_eef_rot_z", - "right_eef_pos_x", - "right_eef_pos_y", - "right_eef_pos_z", - "right_eef_rot_x", - "right_eef_rot_y", - "right_eef_rot_z" - ], - "shape": [ - 12 - ], - "dtype": "float32" - }, - "eef_direction_state": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_direction_action": { - "names": [ - "left_eef_direction", - "right_eef_direction" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_velocity_state": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_velocity_action": { - "names": [ - "left_eef_velocity", - "right_eef_velocity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_acc_mag_state": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "eef_acc_mag_action": { - "names": [ - "left_eef_acc_mag", - "right_eef_acc_mag" - ], - "shape": [ - 2 - ], - "dtype": "int32" - } + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } ] }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_mobile_cube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_mobile_cube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_take_the_shoes_off_the_shelf": { - "path": "Cobot_Magic_take_the_shoes_off_the_shelf", - "dataset_name": "take_the_shoes_off_the_shelf", + "G1edu-u3_stack_bowls": { + "path": "G1edu-u3_stack_bowls", + "dataset_name": "stack_bowls", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "use the right arm to clamp a shoe in the middle of the shoe rack", + "tasks": "Place the bowl on the right onto the bowl in the middle with right gripper", "objects": [ { "object_name": "table", @@ -69141,35 +61827,27 @@ "level5": null }, { - "object_name": "shoes", - "level1": "clothing", - "level2": "shoes", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "shoe_rack", - "level1": "furniture", - "level2": "shoe_rack", + "object_name": "bowl", + "level1": "bowl", + "level2": "bowl", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-321834", - "dataset_size": "18.2GB", + "operation_platform_height": 77.2, + "frame_range": "0-166122", + "dataset_size": "7.0GB", "statistics": { - "total_episodes": 595, - "total_frames": 321834, - "total_tasks": 6, - "total_videos": 1785, + "total_episodes": 261, + "total_frames": 166122, + "total_tasks": 2, + "total_videos": 783, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "ed522b9e-68ff-49a2-b61d-a81ed07e5aa2", + "dataset_uuid": "d27ed137-4947-4948-b818-a02094cab254", "language": [ "en", "zh" @@ -69178,15 +61856,13 @@ "robotics" ], "sub_tasks": [ - "use the right arm to clamp a shoe in the middle of the shoe rack", - "use the right arm to take out the clamped shoe from the shoe rack and put it down", - "use the left arm to clamp a shoe in the middle of the shoe rack", - "use the left arm to clamp a shoe on the left side of the shoe rack", - "Use your left arm to remove the clamped shoe from the shoe rack and put it down", - "use the right arm to clamp a shoe on the right side of the shoe rack", - "use the right arm to clamp a shoe on the left side of the shoe rack", - "Hold the shoe in the middle of the shoe rack with your right arm", - "use the left arm to clamp a shoe on the right side of the shoe rack", + "Place the bowl on the right onto the bowl in the middle with right gripper", + "Grasp the bowl on the right with the right gripper", + "Grasp the bowl on the left with the left gripper", + "End", + "Static", + "Abnormal", + "Place the bowl on the left onto the bowl in the middle with left gripper", "null" ], "annotations": { @@ -69224,12 +61900,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_stack_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_stack_bowls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_storage_bin_storage": { - "path": "RMC-AIDA-L_storage_bin_storage", - "dataset_name": "storage_bin_storage", + "RMC-AIDA-L_fold_shorts": { + "path": "RMC-AIDA-L_fold_shorts", + "dataset_name": "fold_shorts", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -69238,9 +61914,10 @@ "atomic_actions": [ "grasp", "pick", + "fold", "place" ], - "tasks": "Place the orange block in the storage box with left gripper", + "tasks": "Grab the lower left pant leg with your left hand.", "objects": [ { "object_name": "table", @@ -69251,43 +61928,147 @@ "level5": null }, { - "object_name": "teacup", - "level1": "container", - "level2": "teacup", + "object_name": "shorts", + "level1": "clothing", + "level2": "shorts", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-730046", + "dataset_size": "9.5GB", + "statistics": { + "total_episodes": 866, + "total_frames": 730046, + "total_tasks": 4, + "total_videos": 2598, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "5f973d3e-d7a6-40c1-8ecc-0a4a158505f7", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grab the lower left pant leg with your left hand.", + "Grab the lower right pant leg with your right hand.", + "Fold the bottom of the shorts upward with right gripper", + "Fold the pants from right to left with the right gripper", + "Hold the waistband with your left hand.", + "Hold the lower right waistband with your right hand.", + "Grab the waistband with your right hand.", + "Fold to the right with your left hand.", + "Press the middle of the pants with your left hand.", + "Fold upward with your left hand.", + "Fold to the left with your right hand.", + "Hold the lower left waistband with your left hand.", + "Place the folded trousers onto the center area with the right grippers", + "Place the folded trousers onto the center area with right gripper", + "Place the folded trousers onto the center area with the left grippers", + "Grasp the right lower side of the waistband of the shorts with right gripper", + "end", + "Anomaly detected.", + "Grasp the lower left leg of the shorts with left gripper", + "Fold the shorts from right to left with right gripper", + "abnormal", + "Fold the pants from left to right with the left gripper", + "Fold the bottom of the shorts upward with left gripper", + "Fold the bottom of the pants upward with both grippers", + "Adjust the pants with your right hand.", + "Fold upward with your right hand.", + "Adjust the pants with your left hand.", + "Press the middle of the pants with your right hand.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_fold_shorts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_fold_shorts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_place_bottle_c": { + "path": "G1edu-u3_place_bottle_c", + "dataset_name": "place_bottle_c", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place" + ], + "tasks": "End", + "objects": [ { - "object_name": "block", - "level1": "toy", - "level2": "block", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "storage_bin", + "object_name": "bottle", "level1": "container", - "level2": "storage_bin", + "level2": "bottle", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-914776", - "dataset_size": "15.7GB", + "operation_platform_height": null, + "frame_range": "0-7277", + "dataset_size": "92.3MB", "statistics": { - "total_episodes": 302, - "total_frames": 914776, + "total_episodes": 29, + "total_frames": 7277, "total_tasks": 1, - "total_videos": 906, + "total_videos": 29, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 30, "fps": 30 }, - "dataset_uuid": "257289bb-b38e-411f-a2d0-d787e9f12419", + "dataset_uuid": "5e6d1031-7c1e-4cd5-a371-1682b697fabd", "language": [ "en", "zh" @@ -69296,41 +62077,9 @@ "robotics" ], "sub_tasks": [ - "Place the orange block in the storage box with left gripper", - "Place the white block in the storage box with left gripper", - "Place the red block in the storage box with left gripper", - "Grasp the green block with left gripper", - "Grasp the dark blue block with right gripper", - "Grasp the orange block with left gripper", - "Place the white block in the storage box with right gripper", - "Place the green block and red block in the storage box with left gripper", - "Grasp the cup with left gripper", - "Place the dark blue block in the storage box with left gripper", - "Grasp the orange block and white block with left gripper", - "Grasp the light blue block with right gripper", - "Place the green block in the storage box with right gripper", - "Place the light blue block in the storage box with left gripper", - "Grasp the red block with left gripper", - "Grasp the white block with right gripper", - "Place the orange block in the storage box with right gripper", - "Grasp the green block and red block with left gripper", - "Place the green block in the storage box with left gripper", - "Grasp the cup with right gripper", - "Abnormal", - "Place the red block in the storage box with right gripper", - "Place the cup in the storage box with left gripper", - "Grasp the light blue block with left gripper", - "Place the light blue block in the storage box with right gripper", "End", - "Place the dark blue block in the storage box with right gripper", - "Place the cup in the storage box with right gripper", - "Place the orange block and white block in the storage box with left gripper", - "Grasp the green block with right gripper", - "Grasp the white block with left gripper", - "Grasp the red block with right gripper", - "Static", - "Grasp the orange block with right gripper", - "Grasp the dark blue block with left gripper", + "Place the water bottle on the table with left gripper", + "Place the water bottle on the table with right gripper", "null" ], "annotations": { @@ -69368,12 +62117,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_storage_bin_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_storage_bin_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_place_bottle_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_place_bottle_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_wipe_the_table": { - "path": "R1_Lite_wipe_the_table", - "dataset_name": "wipe_the_table", + "R1_Lite_hang_clothes": { + "path": "R1_Lite_hang_clothes", + "dataset_name": "hang_clothes", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -69384,46 +62133,54 @@ "pick", "place" ], - "tasks": "Pick up the tablecloth", + "tasks": "Pick up the clothes rack on the clothesline with the right gripper", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "clothesline", + "level1": "tool", + "level2": "clothesline", "level3": null, "level4": null, "level5": null }, { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", + "object_name": "clothes_hanger", + "level1": "daily_necessities", + "level2": "clothes_hanger", "level3": null, "level4": null, "level5": null }, { - "object_name": "stains", - "level1": "rubbish", - "level2": "stains", + "object_name": "clothes", + "level1": "fabric", + "level2": "clothes", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-67215", - "dataset_size": "2.4GB", + "frame_range": "0-289827", + "dataset_size": "22.8GB", "statistics": { - "total_episodes": 107, - "total_frames": 67215, + "total_episodes": 109, + "total_frames": 289827, "total_tasks": 1, - "total_videos": 321, + "total_videos": 327, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "b7447b1b-1e24-4b6f-9835-82048a217823", + "dataset_uuid": "f7bbf41d-af0d-4f31-9158-8e7987fb7c9f", "language": [ "en", "zh" @@ -69432,12 +62189,20 @@ "robotics" ], "sub_tasks": [ - "Pick up the tablecloth", - "Place the tablecloth", - "Place the bottle at the back of the table", - "Pick up the bottle", - "Sweep the stains on the table", - "Hand it to the other hand", + "Pick up the clothes rack on the clothesline with the right gripper", + "Hang the clothes rack on the clothesline with the right gripper", + "Take the clothes off the clothes rack with the right gripper", + "End", + "Hang the clothes on the clothes rack", + "Put clothes in the basket with the left gripper", + "Pick up the clothes rack on the clothesline", + "Hang the clothes rack on the clothesline", + "Pick up clothes from the basket", + "Take the clothes off the clothes rack", + "Hang the clothes on the clothes rack with both grippers", + "Pick up clothes from the basket with the left gripper", + "abnormal", + "Put clothes in the basket", "null" ], "annotations": { @@ -69475,210 +62240,475 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_hang_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_hang_clothes_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Agilex_Cobot_Magic_storage_object_closest": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" + "leju_robot_hotel_services_i": { + "path": "leju_robot_hotel_services_i", + "dataset_name": "hotel_services_i", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_storage_object_closest", - "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.", + "tasks": "End", "objects": [ { "object_name": "table", - "level1": "home_storage", + "level1": "furniture", "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "brown_basket", - "level1": "container", - "level2": "brown_basket", + "object_name": "box", + "level1": "home_storage", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "mentholatum_facial_cleanser", - "level1": "daily_necessities", - "level2": "mentholatum_facial_cleanser", + "object_name": "card", + "level1": "nfc", + "level2": "card", "level3": null, "level4": null, "level5": null }, { - "object_name": "toothpaste", - "level1": "daily_necessities", - "level2": "toothpaste", + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": null, + "frame_range": "0-33547", + "dataset_size": "2.1GB", + "statistics": { + "total_episodes": 189, + "total_frames": 33547, + "total_tasks": 1, + "total_videos": 567, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "fc45ac73-e09b-491e-9dc0-71c8c532f0a7", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Take out the room card with right gripper", + "Hand the room card to the guest with right gripper", + "Hand the room card to the target.", + "Pick up the room card from the card holder.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_hotel_services_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_i_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_place_the_yellow_block": { + "path": "AIRBOT_MMK2_place_the_yellow_block", + "dataset_name": "place_the_yellow_block", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "lower" + ], + "tasks": "Static", + "objects": [ { - "object_name": "cleanser", - "level1": "daily_necessities", - "level2": "cleanser", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "blue_moon_laundry_detergent", - "level1": "daily_necessities", - "level2": "blue_moon_laundry_detergent", + "object_name": "square_block", + "level1": "toy", + "level2": "square_block", "level3": null, "level4": null, "level5": null }, { - "object_name": "shampoo", - "level1": "daily_necessities", - "level2": "shampoo", + "object_name": "rubiks_cube", + "level1": "toy", + "level2": "rubiks_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": [ - "Place the object closest to the toothpaste in the basket." + "operation_platform_height": 77.2, + "frame_range": "0-10030", + "dataset_size": "501.4MB", + "statistics": { + "total_episodes": 47, + "total_frames": 10030, + "total_tasks": 1, + "total_videos": 188, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "5627f996-6a84-4ee5-942f-6a546d68645f", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" ], "sub_tasks": [ - { - "subtask": "Grasp the shampoo with left gripper", - "subtask_index": 0 - }, - { - "subtask": "Grasp the soft facial cleanser with right gripper", - "subtask_index": 1 - }, - { - "subtask": "Place the pink laundry detergent in the basket with right gripper", - "subtask_index": 2 - }, - { - "subtask": "Place the cleaning agent in the basket with left gripper", - "subtask_index": 3 - }, - { - "subtask": "Place the shampoo in the basket with right gripper", - "subtask_index": 4 - }, - { - "subtask": "Grasp the shampoo with right gripper", - "subtask_index": 5 - }, - { - "subtask": "Place the pink laundry detergent in the basket with left gripper", - "subtask_index": 6 - }, - { - "subtask": "Place the soft facial cleanser in the basket with right gripper", - "subtask_index": 7 - }, - { - "subtask": "Grasp the pink laundry detergent with right gripper", - "subtask_index": 8 - }, - { - "subtask": "Grasp the soft facial cleanser with left gripper", - "subtask_index": 9 - }, - { - "subtask": "Place the cleaning agent in the basket with right gripper", - "subtask_index": 10 - }, - { - "subtask": "Place the soft facial cleanser in the basket with left gripper", - "subtask_index": 11 - }, - { - "subtask": "Grasp the pink laundry detergent with left gripper", - "subtask_index": 12 + "Static", + "End", + "Abnormal", + "Grasp the yellow block with left gripper", + "Grasp the yellow block on the magic cube with right gripper", + "Place the yellow block on the magic cube with left gripper", + "Place the yellow block on the table with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_place_the_yellow_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_box_storage_parcel_b": { + "path": "leju_robot_box_storage_parcel_b", + "dataset_name": "box_storage_parcel_b", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the package into the parcel locker.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the shampoo in the basket with left gripper", - "subtask_index": 13 + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "End", - "subtask_index": 14 + "object_name": "parcel", + "level1": "container", + "level2": "parcel", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the cleaning agent with right gripper", - "subtask_index": 15 + "object_name": "conveyor_belt", + "level1": "industrial_equipment", + "level2": "conveyor_belt", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-186311", + "dataset_size": "9.5GB", + "statistics": { + "total_episodes": 497, + "total_frames": 186311, + "total_tasks": 1, + "total_videos": 1491, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "5e55ad50-424b-4a78-9d00-e0d7a45f48f7", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the package into the parcel locker.", + "Pick up the package from the inbound machine.", + "Pick up the package from the conveyor belt.", + "Place the package onto the inbound machine.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_box_storage_parcel_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_swap_sponge_paper_box_plate": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_swap_sponge_paper_box_plate", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "household", + "level2": "kitchen", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "paper_boxes", + "level1": "home_storage", + "level2": "paper_boxes", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the cleaning agent with left gripper", - "subtask_index": 16 + "object_name": "cleaning_sponge", + "level1": "daily_necessities", + "level2": "cleaning_sponge", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "take the sponge out of the plate with left hand and put the box in with right hand." + ], + "sub_tasks": [ + { + "subtask": "Place the sponge on the table with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the mouse box with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Abnormal", + "subtask_index": 2 + }, + { + "subtask": "Static", + "subtask_index": 3 + }, + { + "subtask": "Place the mouse box into the plate with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "End", + "subtask_index": 5 + }, + { + "subtask": "Grasp the sponge in the plate with the left gripper", + "subtask_index": 6 }, { "subtask": "null", - "subtask_index": 17 + "subtask_index": 7 } ], "atomic_actions": [ "grasp", - "lift", - "lower" + "pick", + "place" ], "robot_name": [ - "Agilex_Cobot_Magic" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "end_effector_type": "five_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "cam_right_wrist_rgb", + "cam_front_rgb" ], "came_info": { "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "radian", - "end_translation_dim": "meter", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -69689,23 +62719,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 100, - "total_frames": 29779, + "total_episodes": 50, + "total_frames": 8731, "fps": 30, - "total_tasks": 18, - "total_videos": 300, + "total_tasks": 8, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "506.53 MB" + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "272.24 MB" }, - "frame_num": 29779, - "dataset_size": "506.53 MB", - "data_structure": "Agilex_Cobot_Magic_storage_object_closest_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 8731, + "dataset_size": "272.24 MB", + "data_structure": "Airbot_MMK2_swap_sponge_paper_box_plate_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", "splits": { - "train": "0:99" + "train": "0:49" }, "features": { "observation.images.cam_head_rgb": { @@ -69777,10 +62807,33 @@ "has_audio": false } }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, "observation.state": { "dtype": "float32", "shape": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -69789,32 +62842,42 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" ] }, "action": { "dtype": "float32", "shape": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -69823,26 +62886,36 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" ] }, "timestamp": { @@ -69882,17 +62955,17 @@ }, "subtask_annotation": { "names": null, - "dtype": "int32", "shape": [ 5 - ] + ], + "dtype": "int32" }, "scene_annotation": { "names": null, - "dtype": "int32", "shape": [ 1 - ] + ], + "dtype": "int32" }, "eef_sim_pose_state": { "names": [ @@ -69909,10 +62982,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_sim_pose_action": { "names": [ @@ -69929,130 +63002,70 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", "shape": [ 2 - ] - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" ], - "dtype": "float32", - "shape": [ - 2 - ] + "dtype": "int32" } }, "authors": { @@ -70074,11 +63087,11 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_take_down_umbrella_and_mineral_water": { - "path": "AIRBOT_MMK2_take_down_umbrella_and_mineral_water", - "dataset_name": "take_down_umbrella_and_mineral_water", + "AIRBOT_MMK2_storage_spoon": { + "path": "AIRBOT_MMK2_storage_spoon", + "dataset_name": "storage_spoon", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -70089,177 +63102,7 @@ "place", "pick" ], - "tasks": "Place the cake on the table with the left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "umbrella", - "level1": "tool", - "level2": "umbrella", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "mineral_water", - "level1": "drink", - "level2": "mineral_water", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lid", - "level1": "container", - "level2": "lid", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "vitamin_b_water", - "level1": "beverage", - "level2": "vitamin_b_water", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg", - "level1": "food", - "level2": "egg", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cake", - "level1": "food", - "level2": "cake", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "building_blocks", - "level1": "toy", - "level2": "building_blocks", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-31517", - "dataset_size": "1.2GB", - "statistics": { - "total_episodes": 212, - "total_frames": 31517, - "total_tasks": 5, - "total_videos": 848, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "f02d7798-2ef4-4eb5-9f41-d9d908b80510", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the cake on the table with the left gripper", - "Place the mineral water on the table with the left gripper", - "Grasp the umbrella on the white lid with the right gripper", - "Grasp the cake from the white basket with the right gripper", - "Grasp the vitamin B water on the white lid with the left gripper", - "Place the umbrella on the table with the right gripper", - "Grasp the blue cube block on the paper box with the left gripper", - "Place the green cube block on the table with the right gripper", - "End", - "Grasp the cake from the white basket with the left gripper", - "Place the blue cube block on the table with the left gripper", - "Grasp the mineral water on the white lid with the left gripper", - "Place the vitamin B water on the table with the right gripper", - "Place the vitamin B water on the table with the left gripper", - "Static", - "Place the cake on the table with the right gripper", - "Abnormal", - "Grasp the egg from the egg storage box with the right gripper", - "Place the egg on the table with the right gripper", - "Grasp the vitamin B water on the white lid with the right gripper", - "Grasp the green cube block on the paper box with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_storage_tissue_and_milk_carton": { - "path": "AIRBOT_MMK2_storage_tissue_and_milk_carton", - "dataset_name": "storage_tissue_and_milk_carton", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Abnormal", + "tasks": "Static", "objects": [ { "object_name": "table", @@ -70270,43 +63113,35 @@ "level5": null }, { - "object_name": "tissue_paper", - "level1": "daily_necessities", - "level2": "tissue_paper", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lid", - "level1": "container", - "level2": "lid", + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", "level3": null, "level4": null, "level5": null }, { - "object_name": "milk_carton", + "object_name": "basin", "level1": "container", - "level2": "milk_carton", + "level2": "basin", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-9751", - "dataset_size": "338.3MB", + "frame_range": "0-12204", + "dataset_size": "363.2MB", "statistics": { - "total_episodes": 47, - "total_frames": 9751, + "total_episodes": 49, + "total_frames": 12204, "total_tasks": 1, - "total_videos": 188, + "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "65bf2295-305d-4c59-aac7-0ce3349acaf9", + "dataset_uuid": "d4290af8-7a4d-4868-8a9b-2962225648e8", "language": [ "en", "zh" @@ -70315,255 +63150,12 @@ "robotics" ], "sub_tasks": [ - "Abnormal", - "Grasp the tissue with the left gripper", "Static", + "Grasp the spoon with the right gripper", "End", - "Place the tissue on the white basket with the left gripper", - "Grasp the milk with the right gripper", - "Place the milk on the white basket with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Split_aloha_pour_tea": { - "path": "Split_aloha_pour_tea", - "dataset_name": "pour_tea", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick", - "pour" - ], - "tasks": "Pick up the teacup with the left gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "teacup", - "level1": "container", - "level2": "teacup", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "teapot", - "level1": "container", - "level2": "teapot", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-1305706", - "dataset_size": "13.7GB", - "statistics": { - "total_episodes": 977, - "total_frames": 1305706, - "total_tasks": 5, - "total_videos": 2931, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "dc22129e-7334-4a8e-b843-438763c0a08f", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick up the teacup with the left gripper", - "End", - "Place the teacup in the center of view with the right gripper", - "Pick up the teapot with the left gripper", - "Pick up the teapot with the right gripper", - "Abnormal", - "Pick up the teacup with the right gripper", - "Place the down the teapot with the left gripper", - "Grasp the teapot with left gripper", - "Put down the teapot with left gripper", - "Pour tea into the teacup with right gripper", - "Put down the teapot with right gripper", - "Pour tea into the teacup with left gripper", - "Pour tea into the teacup with the right gripper", - "Grasp the teapot with right gripper", - "Pour tea into the teacup with the left gripper", - "Place the down the teapot with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Split_aloha_pour_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│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", - "structure": "Split_aloha_pour_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│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" - }, - "RMC-AIDA-L_pour_tea": { - "path": "RMC-AIDA-L_pour_tea", - "dataset_name": "pour_tea", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick", - "pour" - ], - "tasks": "Pour tea into the teacup with the light gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cup", - "level1": "container", - "level2": "cup", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tea", - "level1": "water", - "level2": "tea", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "teapot", - "level1": "container", - "level2": "teapot", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-547759", - "dataset_size": "4.0GB", - "statistics": { - "total_episodes": 790, - "total_frames": 547759, - "total_tasks": 2, - "total_videos": 2370, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "25f997d1-8e07-4035-b14f-0b3219460e17", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pour tea into the teacup with the light gripper", - "Pour tea into the teacup with the right gripper", - "end", - "abnormal", - "Pour tea into the teacup with the left gripper", - "Pick up the teacup with the right gripper", - "Put down the teapot with the left gripper", - "Pick up the teacup with the left gripper", - "Pick up the teapot with the right gripper", - "Place the teacup in the center of view with the left gripper", - "Pick up the teapot with the left gripper", - "Put down the teapot with the right gripper", - "Place the teacup in the center of view with the right gripper", + "Grasp the spoon with the left gripper", + "Place the spoon into the basin with the right gripper", + "Place the spoon into the basin with the left gripper", "null" ], "annotations": { @@ -70601,10 +63193,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_pour_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_pour_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_storage_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Agilex_Cobot_Magic_storage_object": { + "Airbot_MMK2_take_cup": { "task_categories": [ "robotics" ], @@ -70634,11 +63226,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_storage_object", + "dataset_name": "Airbot_MMK2_take_cup", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "living_room", + "level1": "catering", + "level2": "cafe", "level3": null, "level4": null, "level5": null @@ -70646,1014 +63238,1902 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "white_table_cloths", - "level1": "laboratory_supplies", - "level2": "white_table_cloths", + "object_name": "cup", + "level1": "cups", + "level2": "cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "table", - "level1": "home_storage", - "level2": "table", + "object_name": "lid", + "level1": "storage_utensils", + "level2": "lid", "level3": null, "level4": null, "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "take the cup off the white lid and place them on the table by hands." + ], + "sub_tasks": [ + { + "subtask": "place the cup in the table use the left gripper", + "subtask_index": 0 }, { - "object_name": "apple", - "level1": "food", - "level2": "apple", - "level3": null, - "level4": null, - "level5": null + "subtask": "place the cup in the table use the right gripper", + "subtask_index": 1 }, { - "object_name": "yellow_lemon", - "level1": "food", - "level2": "yellow_lemon", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the cup the left gripper", + "subtask_index": 2 }, { - "object_name": "pomegranate", - "level1": "food", - "level2": "pomegranate", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the cup the right gripper", + "subtask_index": 3 }, { - "object_name": "bread_dough", - "level1": "food", - "level2": "bread_dough", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 4 }, { - "object_name": "waffle", - "level1": "food", - "level2": "waffle", - "level3": null, - "level4": null, - "level5": null + "subtask": "null", + "subtask_index": 5 + } + ], + "atomic_actions": [ + "pinch", + "place", + "clip", + "takeout" + ], + "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": 35, + "total_frames": 5435, + "fps": 30, + "total_tasks": 6, + "total_videos": 140, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "169.73 MB" + }, + "frame_num": 5435, + "dataset_size": "169.73 MB", + "data_structure": "Airbot_MMK2_take_cup_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (23 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_front_rgb\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:34" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "green_lemon", - "level1": "food", - "level2": "green_lemon", - "level3": null, - "level4": null, - "level5": null + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "eggplant", - "level1": "food", - "level2": "eggplant", - "level3": null, - "level4": null, - "level5": null + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } }, - { - "object_name": "chewing_gum", - "level1": "food", - "level2": "chewing_gum", - "level3": null, - "level4": null, - "level5": null + "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 + } }, - { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null + "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" + ] }, - { - "object_name": "mango", - "level1": "food", - "level2": "mango", - "level3": null, - "level4": null, - "level5": null + "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" + ] }, - { - "object_name": "chewing_gum", - "level1": "food", - "level2": "chewing_gum", - "level3": null, - "level4": null, - "level5": null + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "mint_candy", - "level1": "food", - "level2": "mint_candy", - "level3": null, - "level4": null, - "level5": null + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "mangosteen", - "level1": "food", - "level2": "mangosteen", - "level3": null, - "level4": null, - "level5": null + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "orange", - "level1": "food", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "bread", - "level1": "food", - "level2": "bread", - "level3": null, - "level4": null, - "level5": null + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "object_name": "banana", - "level1": "food", - "level2": "banana", - "level3": null, - "level4": "Fruit cake", - "level5": null + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" }, - { - "object_name": "cake", - "level1": "food", - "level2": "cake", - "level3": null, - "level4": null, - "level5": null + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" }, - { - "object_name": "beef_cheeseburger", - "level1": "food", - "level2": "beef_cheeseburger", - "level3": null, - "level4": null, - "level5": null + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" }, - { - "object_name": "bowl", - "level1": "kitchen_supplies", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" }, - { - "object_name": "pan", - "level1": "kitchen_supplies", - "level2": "pan", - "level3": null, - "level4": null, - "level5": null + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "small_teapot", - "level1": "kitchen_supplies", - "level2": "small_teapot", - "level3": null, - "level4": null, - "level5": null + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "small_teacup", - "level1": "kitchen_supplies", - "level2": "small_teacup", - "level3": null, - "level4": null, - "level5": null + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "paper_ball", - "level1": "trash", - "level2": "paper_ball", - "level3": null, - "level4": null, - "level5": null + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "brown_square_towel", - "level1": "daily_necessities", - "level2": "brown_square_towel", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "black_cylindrical_pen_holder", - "level1": "stationery", - "level2": "black_cylindrical_pen_holder", - "level3": null, - "level4": null, - "level5": null + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Cobot_Magic_mobile_cube_blackboard": { + "path": "Cobot_Magic_mobile_cube_blackboard", + "dataset_name": "mobile_cube_blackboard", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the block at the correct position to assemble the letter S", + "objects": [ { - "object_name": "pink_long_towel", - "level1": "daily_necessities", - "level2": "pink_long_towel", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "whiteboard_eraser", - "level1": "stationery", - "level2": "whiteboard_eraser", + "object_name": "cube_block", + "level1": "toy", + "level2": "cube_block", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-191398", + "dataset_size": "3.4GB", + "statistics": { + "total_episodes": 100, + "total_frames": 191398, + "total_tasks": 1, + "total_videos": 300, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "679f07f9-efb6-4a77-9347-2423da9981cd", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the block at the correct position to assemble the letter S", + "out of view", + "End", + "Pick up the block on the table", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_mobile_cube_blackboard_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AgiBot-g1_box_storage_c": { + "path": "AgiBot-g1_box_storage_c", + "dataset_name": "box_storage_c", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Pick up the mouse and power cord box.", + "objects": [ { - "object_name": "mentholatum_facial_cleanser", - "level1": "daily_necessities", - "level2": "mentholatum_facial_cleanser", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "duck", - "level1": "toys", - "level2": "duck", + "object_name": "box", + "level1": "container", + "level2": "box", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": null, + "frame_range": "0-23361", + "dataset_size": "10.2GB", + "statistics": { + "total_episodes": 39, + "total_frames": 23361, + "total_tasks": 1, + "total_videos": 312, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "a55ac5d2-061f-4ff3-9670-41aef4e03037", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pick up the mouse and power cord box.", + "Place the mouse and power cord box into the container.", + "End", + "Place the paper box in the another big box", + "Abnormal", + "Grasp the paper box", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_box_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_box_storage_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_open_and_close_nightstand_drawer": { + "path": "R1_Lite_open_and_close_nightstand_drawer", + "dataset_name": "open_and_close_nightstand_drawer", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "push" + ], + "tasks": "Open the nightstand drawer", + "objects": [ { - "object_name": "compass", - "level1": "stationery", - "level2": "compass", + "object_name": "nightstand", + "level1": "furniture", + "level2": "nightstand", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "kitchen_supplies", - "level2": "bowl", + "object_name": "remote_control", + "level1": "electric_appliance", + "level2": "remote_control", "level3": null, "level4": null, "level5": null }, { - "object_name": "blue_long_towel", + "object_name": "tissue", "level1": "daily_necessities", - "level2": "blue_long_towel", + "level2": "tissue", "level3": null, "level4": null, "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-104258", + "dataset_size": "7.1GB", + "statistics": { + "total_episodes": 77, + "total_frames": 104258, + "total_tasks": 1, + "total_videos": 231, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "f53ef972-f453-4892-bf9c-cd8d3c22762e", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Open the nightstand drawer", + "Put the remote controls on the table in the drawer one by one", + "Take the remote control out of the drawer one by one and place them on the table", + "Take the tissue out of the drawer one by one and place them on the table", + "Close the nightstand drawer", + "Put the tissue on the table in the drawer one by one", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_open_and_close_nightstand_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_open_and_close_nightstand_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Galaxea_R1_Lite_mix_color_small_test_tube": { + "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_color_small_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": "pearMint candy", - "level1": "food", - "level2": "pear", + "object_name": "blue_pigment", + "level1": "materials", + "level2": "blue_pigment", "level3": null, "level4": null, "level5": null }, { - "object_name": "mint_candy", - "level1": "food", - "level2": "mint_candy", + "object_name": "red_pigment", + "level1": "materials", + "level2": "red_pigment", "level3": null, "level4": null, "level5": null }, { - "object_name": "triangular_bread", - "level1": "food", - "level2": "triangular_bread Long Bread", + "object_name": "test_tube_rack", + "level1": "holding_utensils", + "level2": "test_tube_rack", "level3": null, "level4": null, "level5": null }, { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", + "object_name": "small_test_tubes", + "level1": "laboratory_supplies", + "level2": "small_test_tubes", "level3": null, "level4": null, "level5": null }, { - "object_name": "chinese_cabbage", - "level1": "food", - "level2": "chinese_cabbage", + "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 red pigment and the test tube with blue pigment by grippers and pour them into the container." + ], + "sub_tasks": [ + { + "subtask": "Pour the blue reagent into the graduated cylinder with the left gripper", + "subtask_index": 0 }, { - "object_name": "peach", - "level1": "food", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null + "subtask": "Pour the red reagent into the graduated cylinder with the left gripper", + "subtask_index": 1 }, { - "object_name": "can", - "level1": "food", - "level2": "can", - "level3": null, - "level4": null, - "level5": null + "subtask": "Pour the yellow reagent into the graduated cylinder with the left gripper", + "subtask_index": 2 }, { - "object_name": "bathing_in_flowers", - "level1": "daily_necessities", - "level2": "bathing_in_flowers", - "level3": null, - "level4": null, - "level5": null + "subtask": "Pour the red reagent into the graduated cylinder with the right gripper", + "subtask_index": 3 }, { - "object_name": "wok", - "level1": "kitchen_supplies", - "level2": "wok", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the yellow reagent with the left gripper", + "subtask_index": 4 }, { - "object_name": "red_bull_canned_drink", - "level1": "beverages", - "level2": "wok", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the blue reagent with the left gripper", + "subtask_index": 5 }, { - "object_name": "eyeglass_case", - "level1": "laboratory_supplies", - "level2": "eyeglass_case", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 6 }, { - "object_name": "coke (Slim Can)", - "level1": "beverages", - "level2": "coke (Slim Can)", - "level3": null, - "level4": null, - "level5": null + "subtask": "Pour the blue reagent into the graduated cylinder with the right gripper", + "subtask_index": 7 }, { - "object_name": "wahaha_AD_calcium", - "level1": "beverages", - "level2": "wahaha_AD_calcium", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the test tube into the brown cup with the left gripper", + "subtask_index": 8 }, { - "object_name": "brave_the_world_beer", - "level1": "beverages", - "level2": "brave_the_world_beer", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the yellow reagent with the right gripper", + "subtask_index": 9 }, { - "object_name": "brave_the_world_beer", - "level1": "beverages", - "level2": "brave_the_world_beer", - "level3": null, - "level4": null, - "level5": null + "subtask": "Pour the yellow reagent into the graduated cylinder with the right gripper", + "subtask_index": 10 }, { - "object_name": "shampoo", - "level1": "daily_necessities", - "level2": "shampoo", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the blue reagent with the right gripper", + "subtask_index": 11 }, { - "object_name": "cleanser", - "level1": "daily_necessities", - "level2": "cleanser", - "level3": null, - "level4": null, - "level5": null + "subtask": "Place the test tube into the brown cup with the right gripper", + "subtask_index": 12 }, { - "object_name": "sausage", - "level1": "food", - "level2": "sausage", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the red reagent with the left gripper", + "subtask_index": 13 }, { - "object_name": "french_fries", - "level1": "food", - "level2": "french_fries", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "purple_trash_bag", - "level1": "trash", - "level2": "purple_trash_bag", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the red reagent with the right gripper", + "subtask_index": 14 }, { - "object_name": "red_date", - "level1": "food", - "level2": "red_date", - "level3": null, - "level4": null, - "level5": null + "subtask": "null", + "subtask_index": 15 } ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "pick up an item with a gripper and place it in a random container on the table." + "atomic_actions": [ + "grasp", + "pick", + "place", + "pour" ], - "sub_tasks": [ - { - "subtask": "Grasp the pink towel with the right gripper", - "subtask_index": 0 - }, - { - "subtask": "Place the XX into the purple pot with the left gripper", - "subtask_index": 1 - }, - { - "subtask": "Grasp the yellow lemon with the right gripper", - "subtask_index": 2 - }, - { - "subtask": "Grasp the AD milk with the left gripper", - "subtask_index": 3 - }, - { - "subtask": "Place the plush banana into the pink bowl with the left gripper", - "subtask_index": 4 - }, - { - "subtask": "Place the beer into the purple pot with the right gripper", - "subtask_index": 5 - }, - { - "subtask": "Place the green lemon into the pink bowl with the right gripper", - "subtask_index": 6 - }, - { - "subtask": "Grasp the red bull with the right gripper", - "subtask_index": 7 - }, - { - "subtask": "Grasp the beer with the right gripper", - "subtask_index": 8 - }, - { - "subtask": "Place the hollow ring bread into the red pot with the left gripper", - "subtask_index": 9 - }, - { - "subtask": "Grasp the banana with the left gripper", - "subtask_index": 10 + "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": 203, + "total_frames": 147521, + "fps": 30, + "total_tasks": 16, + "total_videos": 812, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "6.71 GB" + }, + "frame_num": 147521, + "dataset_size": "6.71 GB", + "data_structure": "Galaxea_R1_Lite_mix_color_small_test_tube_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (191 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:202" + }, + "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 + } }, - { - "subtask": "Place the yellow lemon into the pink bowl with the left gripper", - "subtask_index": 11 + "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 + } }, - { - "subtask": "Place the yellow lemon into the blue bowl with the right gripper", - "subtask_index": 12 + "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 + } }, - { - "subtask": "Grasp the pink laundry detergent with the left gripper", - "subtask_index": 13 + "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 + } }, - { - "subtask": "Place the eggplant into the purple pot with the right gripper", - "subtask_index": 14 + "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" + ] }, - { - "subtask": "Grasp the apple with the right gripper", - "subtask_index": 15 + "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" + ] }, - { - "subtask": "Place the peach into the red pot with the left gripper", - "subtask_index": 16 + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null }, - { - "subtask": "Place the red bull into the blue bowl with the left gripper", - "subtask_index": 17 + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "subtask": "Place the blue garbage bag into the pen container with the right gripper", - "subtask_index": 18 + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "subtask": "Grasp the shampoo with the right gripper", - "subtask_index": 19 + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "subtask": "Place the plush banana into the pink bowl with the right gripper", - "subtask_index": 20 + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null }, - { - "subtask": "Place the banana into the red pot with the left gripper", - "subtask_index": 21 + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" }, - { - "subtask": "Place the apple into the red pot with the left gripper", - "subtask_index": 22 + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" }, - { - "subtask": "Place the round chewing gum into the pen container with the left gripper", - "subtask_index": 23 + "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" }, - { - "subtask": "Place the beer into the pink pot with the left gripper", - "subtask_index": 24 + "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" }, - { - "subtask": "Place the yellow cake into the pink bowl with the left gripper", - "subtask_index": 25 + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "subtask": "Place the tin into the red pot with the right gripper", - "subtask_index": 26 + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "subtask": "Place the blue garbage bag into the purple pot with the left gripper", - "subtask_index": 27 + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "subtask": "Place the croissant into the purple pot with the right gripper", - "subtask_index": 28 + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "subtask": "Place the shampoo into the blue bowl with the left gripper", - "subtask_index": 29 + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "subtask": "Grasp the yellow lemon with the left gripper", - "subtask_index": 30 + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "subtask": "Place the eyeglass case into the purple pot with the right gripper", - "subtask_index": 31 + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" }, - { - "subtask": "Grasp the white blackboard erasure with the left gripper", - "subtask_index": 32 + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" }, - { - "subtask": "Place the yogurt into the pink bowl with the right gripper", - "subtask_index": 33 + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "subtask": "Place the blue garbage bag into the pink pot with the right gripper", - "subtask_index": 34 + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "subtask": "Place the green lemon into the blue bowl with the left gripper", - "subtask_index": 35 - }, - { - "subtask": "Place the apple into the pink pot with the left gripper", - "subtask_index": 36 + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + }, + "leju_robot_hotel_services_aa": { + "path": "leju_robot_hotel_services_aa", + "dataset_name": "hotel_services_aa", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "End", + "objects": [ { - "subtask": "Grasp the eyeglass case with the right gripper", - "subtask_index": 37 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the yellow cake into the blue bowl with the left gripper", - "subtask_index": 38 + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the red bull into the pen container with the right gripper", - "subtask_index": 39 + "object_name": "card", + "level1": "nfc", + "level2": "card", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the croissant into the pink bowl with the left gripper", - "subtask_index": 40 - }, + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-70570", + "dataset_size": "4.5GB", + "statistics": { + "total_episodes": 419, + "total_frames": 70570, + "total_tasks": 1, + "total_videos": 1257, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "dcd0025f-866e-4a2c-8898-6bf7dc424bc2", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Take out the room card with right gripper", + "Hand the room card to the guest with right gripper", + "Hand the room card to the target.", + "Pick up the room card from the card holder.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_hotel_services_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_aa_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_pick_apple_b": { + "path": "G1edu-u3_pick_apple_b", + "dataset_name": "pick_apple_b", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick" + ], + "tasks": "End", + "objects": [ { - "subtask": "Grasp the shower sphere with the left gripper", - "subtask_index": 41 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the yogurt with the right gripper", - "subtask_index": 42 - }, + "object_name": "apple", + "level1": "fruit", + "level2": "apple", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-8289", + "dataset_size": "102.4MB", + "statistics": { + "total_episodes": 26, + "total_frames": 8289, + "total_tasks": 1, + "total_videos": 26, + "total_chunks": 1, + "chunks_size": 26, + "fps": 30 + }, + "dataset_uuid": "5cb12579-7559-4cdb-b6c3-8ffb1f039b19", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Grasp the apple and lift it to the center of the view with right gripper", + "Grasp the apple and lift it to the center of the view with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_pick_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_hotel_services_ae": { + "path": "leju_robot_hotel_services_ae", + "dataset_name": "hotel_services_ae", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Pick up the key card from the card box.", + "objects": [ { - "subtask": "Grasp the croissant with the left gripper", - "subtask_index": 43 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the tin with the left gripper", - "subtask_index": 44 + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the long bread with the right gripper", - "subtask_index": 45 + "object_name": "card", + "level1": "nfc", + "level2": "card", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the hard facial cleanser with the left gripper", - "subtask_index": 46 - }, + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-78394", + "dataset_size": "5.0GB", + "statistics": { + "total_episodes": 449, + "total_frames": 78394, + "total_tasks": 1, + "total_videos": 1347, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "91537f29-b5ac-455f-bfdf-78d671e6f66d", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pick up the key card from the card box.", + "Hand the key card to the target.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_hotel_services_ae_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_ae_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_clear_the_desktop": { + "path": "Cobot_Magic_clear_the_desktop", + "dataset_name": "clear_the_desktop", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the tablecloth", + "objects": [ { - "subtask": "Place the mango into the pink bowl with the left gripper", - "subtask_index": 47 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the plush banana with the left gripper", - "subtask_index": 48 + "object_name": "rag", + "level1": "clothing", + "level2": "rag", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the pink laundry detergent into the pen container with the left gripper", - "subtask_index": 49 - }, + "object_name": "coffee_stains", + "level1": "garbage", + "level2": "coffee_stains", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-157415", + "dataset_size": "1018.3MB", + "statistics": { + "total_episodes": 293, + "total_frames": 157415, + "total_tasks": 3, + "total_videos": 879, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "1ef1c2b2-61c3-459c-a45b-332abc0bdb3e", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the tablecloth", + "Sweep the stains on the table", + "End", + "Sweep the stains on the table with the right gripper", + "Place the tablecloth with the right gripper", + "Pick up the tablecloth", + "Pick up the tablecloth with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_clear_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_clear_the_desktop_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Agilex_Cobot_Magic_move_mouse_pen": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ { - "subtask": "Place the soft facial cleanser into the pink bowl with the right gripper", - "subtask_index": 50 + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_move_mouse_pen", + "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": [ { - "subtask": "Grasp the peach with the right gripper", - "subtask_index": 51 - }, - { - "subtask": "Grasp the mango with the left gripper", - "subtask_index": 52 - }, - { - "subtask": "Place the round chewing gum into the pink pot with the left gripper", - "subtask_index": 53 - }, - { - "subtask": "Place the white blackboard erasure into the pink bowl with the left gripper", - "subtask_index": 54 - }, - { - "subtask": "Place the peach into the pink bowl with the left gripper", - "subtask_index": 55 - }, - { - "subtask": "Grasp the pear with the left gripper", - "subtask_index": 56 - }, - { - "subtask": "Place the tin into the pink pot with the left gripper", - "subtask_index": 57 - }, - { - "subtask": "Place the cleaning agent into the pen container with the left gripper", - "subtask_index": 58 - }, - { - "subtask": "Place the shampoo into the blue bowl with the right gripper", - "subtask_index": 59 - }, - { - "subtask": "Grasp the hollow ring bread with the right gripper", - "subtask_index": 60 - }, - { - "subtask": "Place the shower sphere into the pink bowl with the right gripper", - "subtask_index": 61 - }, - { - "subtask": "Place the pear into the purple pot with the left gripper", - "subtask_index": 62 - }, - { - "subtask": "Place the round chewing gum into the pen container with the right gripper", - "subtask_index": 63 - }, - { - "subtask": "Grasp the peach with the left gripper", - "subtask_index": 64 - }, - { - "subtask": "Grasp the long bread with the left gripper", - "subtask_index": 65 - }, - { - "subtask": "Grasp the eggplant with the right gripper", - "subtask_index": 66 - }, - { - "subtask": "Place the blue garbage bag into the pink bowl with the right gripper", - "subtask_index": 67 - }, - { - "subtask": "Place the croissant into the red pot with the left gripper", - "subtask_index": 68 - }, - { - "subtask": "Grasp the green lemon with the right gripper", - "subtask_index": 69 - }, - { - "subtask": "Place the beer into the blue bowl with the left gripper", - "subtask_index": 70 - }, - { - "subtask": "Place the shampoo into the purple pot with the right gripper", - "subtask_index": 71 - }, - { - "subtask": "Grasp the shampoo with the left gripper", - "subtask_index": 72 - }, - { - "subtask": "Place the pink towel into the red pot with the left gripper", - "subtask_index": 73 - }, - { - "subtask": "Place the peach into the purple pot with the right gripper", - "subtask_index": 74 - }, - { - "subtask": "End", - "subtask_index": 75 - }, - { - "subtask": "Place the mint candy into the pink bowl with the right gripper", - "subtask_index": 76 - }, - { - "subtask": "Place the eggplant into the pen container with the right gripper", - "subtask_index": 77 - }, - { - "subtask": "Grasp the beer with the left gripper", - "subtask_index": 78 - }, - { - "subtask": "Place the AD milk into the pen container with the left gripper", - "subtask_index": 79 - }, - { - "subtask": "Place the banana into the pink bowl with the left gripper", - "subtask_index": 80 - }, - { - "subtask": "Grasp the tin with the right gripper\n", - "subtask_index": 81 - }, - { - "subtask": "Place the tin into the pink pot with the right gripper", - "subtask_index": 82 - }, - { - "subtask": "Place the AD milk into the pink pot with the left gripper", - "subtask_index": 83 - }, - { - "subtask": "Place the shower sphere into the purple pot with the right gripper", - "subtask_index": 84 - }, - { - "subtask": "Place the long bread into the red pot with the left gripper", - "subtask_index": 85 - }, - { - "subtask": "Grasp the yellow cake with the right gripper", - "subtask_index": 86 - }, - { - "subtask": "Grasp the croissant with the right gripper", - "subtask_index": 87 - }, - { - "subtask": "Grasp the red bull with the left gripper", - "subtask_index": 88 - }, - { - "subtask": "Place the peach into the pink bowl with the right gripper", - "subtask_index": 89 - }, - { - "subtask": "Place the tin into the pen container with the right gripper", - "subtask_index": 90 - }, - { - "subtask": "Place the long bread into the purple pot with the right gripper", - "subtask_index": 91 - }, - { - "subtask": "Place the orange into the pink pot with the left gripper", - "subtask_index": 92 - }, - { - "subtask": "Place the yellow cake into the blue bowl with the right gripper", - "subtask_index": 93 - }, - { - "subtask": "Grasp the pink towel with the left gripper", - "subtask_index": 94 - }, - { - "subtask": "Place the croissant into the pink bowl with the right gripper", - "subtask_index": 95 - }, - { - "subtask": "Place the hard facial cleanser into the pink bowl with the left gripper", - "subtask_index": 96 - }, - { - "subtask": "Place the round chewing gum into the red pot with the right gripper", - "subtask_index": 97 - }, - { - "subtask": "Grasp the blue garbage bag with the right gripper", - "subtask_index": 98 - }, - { - "subtask": "Grasp the tin with the right gripper", - "subtask_index": 99 - }, - { - "subtask": "Grasp the orange with the left gripper", - "subtask_index": 100 - }, - { - "subtask": "Grasp the blue garbage bag with the left gripper", - "subtask_index": 101 - }, - { - "subtask": "Place the shower sphere into the pink bowl with the left gripper", - "subtask_index": 102 - }, - { - "subtask": "Place the yogurt into the red pot with the right gripper", - "subtask_index": 103 - }, - { - "subtask": "Place the peach into the pink pot with the right gripper", - "subtask_index": 104 - }, - { - "subtask": "Grasp the hollow ring bread with the left gripper", - "subtask_index": 105 - }, - { - "subtask": "Grasp the apple with the left gripper", - "subtask_index": 106 - }, - { - "subtask": "Place the tin into the red pot with the left gripper", - "subtask_index": 107 - }, - { - "subtask": "Place the beer into the red pot with the left gripper", - "subtask_index": 108 - }, - { - "subtask": "Place the blue garbage bag into the pink bowl with the left gripper", - "subtask_index": 109 - }, - { - "subtask": "Place the mango into the purple pot with the right gripper", - "subtask_index": 110 - }, - { - "subtask": "Place the tin into the blue bowl with the left gripper", - "subtask_index": 111 - }, - { - "subtask": "Place the apple into the blue bowl with the left gripper", - "subtask_index": 112 - }, - { - "subtask": "Grasp the shower sphere with the right gripper", - "subtask_index": 113 - }, - { - "subtask": "Place the red bull into the pink bowl with the left gripper", - "subtask_index": 114 - }, - { - "subtask": "Grasp the yellow cake with the left gripper", - "subtask_index": 115 - }, - { - "subtask": "Grasp the round chewing gum with the right gripper", - "subtask_index": 116 - }, - { - "subtask": "Grasp the cleaning agent with the left gripper", - "subtask_index": 117 - }, - { - "subtask": "Place the coke into the pink pot with the left gripper", - "subtask_index": 118 - }, - { - "subtask": "Place the pink towelinto the pink bowl with the right gripper", - "subtask_index": 119 - }, - { - "subtask": "Grasp the round chewing gum with the left gripper", - "subtask_index": 120 - }, - { - "subtask": "Place the green lemon into the purple pot with the left gripper", - "subtask_index": 121 - }, - { - "subtask": "Place the hollow ring bread into the purple pot with the right gripper", - "subtask_index": 122 - }, - { - "subtask": "Place the peach into the purple pot with the left gripper", - "subtask_index": 123 - }, - { - "subtask": "Place the yellow cake into the pen container with the right gripper", - "subtask_index": 124 - }, - { - "subtask": "Place the apple into the pink pot with the right gripper", - "subtask_index": 125 + "object_name": "table", + "level1": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the red bull into the pink pot with the right gripper", - "subtask_index": 126 + "object_name": "deli_water-based_marker", + "level1": "stationery", + "level2": "deli_water-based_marker", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the tin into the purple pot with the left gripper", - "subtask_index": 127 + "object_name": "notebook", + "level1": "stationery", + "level2": "notebook", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the yellow lemon into the pink bowl with the right gripper", - "subtask_index": 128 + "object_name": "mouse", + "level1": "appliances", + "level2": "mouse", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Grasp the mango with the right gripper", - "subtask_index": 129 + "object_name": "mouse_pad", + "level1": "appliances", + "level2": "mouse_pad", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the banana into the red pot with the right gripper", - "subtask_index": 130 - }, + "object_name": "white_table_cloths", + "level1": "laboratory_supplies", + "level2": "white_table_cloths", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "the left gripper organize the pen on the notebook then the right gripper organize the mouse on the mouse pad." + ], + "sub_tasks": [ { - "subtask": "Grasp the mint candy with the right gripper", - "subtask_index": 131 + "subtask": "Grasp the mouse with the left gripper", + "subtask_index": 0 }, { - "subtask": "Place the apple into the pink bowl with the left gripper", - "subtask_index": 132 + "subtask": "Grasp the marker with the left gripper", + "subtask_index": 1 }, { - "subtask": "Grasp the soft facial cleanser with the right gripper", - "subtask_index": 133 + "subtask": "Grasp the mouse with the right gripper", + "subtask_index": 2 }, { - "subtask": "Grasp the green lemon with the left gripper", - "subtask_index": 134 + "subtask": "Place the mouse on the mouse pad with the right gripper", + "subtask_index": 3 }, { - "subtask": "Place the red bull into the red pot with the left gripper", - "subtask_index": 135 + "subtask": "Place the marker on the notebook with the right gripper", + "subtask_index": 4 }, { - "subtask": "Grasp the coke with the left gripper", - "subtask_index": 136 + "subtask": "Grasp the marker with the right gripper", + "subtask_index": 5 }, { - "subtask": "Place the cleaning agent into the pink bowl with the left gripper", - "subtask_index": 137 + "subtask": "end", + "subtask_index": 6 }, { - "subtask": "Grasp the banana with the right gripper", - "subtask_index": 138 + "subtask": "Place the mouse on the mouse pad with the left gripper", + "subtask_index": 7 }, { - "subtask": "Grasp the plush banana with the right gripper", - "subtask_index": 139 + "subtask": "Place the marker on the notebook with the left gripper", + "subtask_index": 8 }, { "subtask": "null", - "subtask_index": 140 + "subtask_index": 9 } ], "atomic_actions": [ @@ -71691,23 +65171,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 99, - "total_frames": 49237, + "total_episodes": 30, + "total_frames": 22756, "fps": 30, - "total_tasks": 141, - "total_videos": 297, + "total_tasks": 10, + "total_videos": 90, "total_chunks": 1, "chunks_size": 1000, "state_dim": 26, "action_dim": 26, "camera_views": 3, - "dataset_size": "855.52 MB" + "dataset_size": "276.67 MB" }, - "frame_num": 49237, - "dataset_size": "855.52 MB", - "data_structure": "Agilex_Cobot_Magic_storage_object_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (87 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 22756, + "dataset_size": "276.67 MB", + "data_structure": "Agilex_Cobot_Magic_move_mouse_pen_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- 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| `-- ... (18 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:98" + "train": "0:29" }, "features": { "observation.images.cam_head_rgb": { @@ -72078,576 +65558,587 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "Galaxea_R1_Lite_fold_towel_twice": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" + "leju_robot_moving_parts_h": { + "path": "leju_robot_moving_parts_h", + "dataset_name": "moving_parts_h", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" ], - "tags": [ - "RoboCOIN", - "LeRobot" + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "license": "apache-2.0", - "configs": [ + "tasks": "Grasp the gray part with right gripper", + "objects": [ { - "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\"" + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_fold_towel_twice", - "dataset_uuid": "eb818363-8a30-492c-8639-78589399913b", - "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": "gray_square_towel", - "level1": "daily_necessities", - "level2": "gray_square_towel", + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", "level3": null, "level4": null, "level5": null }, { - "object_name": "yellow_square_towel", - "level1": "daily_necessities", - "level2": "towels", - "level3": "yellow_square_towel", + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", + "level3": null, "level4": null, "level5": null } ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "Use the gripper to fold the yellow towel and grey towel in half twice,then put the yellow towel on the grey towel." + "operation_platform_height": null, + "frame_range": "0-234391", + "dataset_size": "14.5GB", + "statistics": { + "total_episodes": 162, + "total_frames": 234391, + "total_tasks": 1, + "total_videos": 486, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "27a39264-c303-45a1-9046-1419479116fb", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" ], "sub_tasks": [ + "Grasp the gray part with right gripper", + "Insert the small component into the corresponding slot on the workbench.", + "Move to the table behind body", + "Grasp the white part with right gripper", + "Abnormal", + "Move the small component to the workbench.", + "Place the gray part on the table with right gripper", + "Place the white part on the table with right gripper", + "End", + "Pick up the small component from the shelf.", + "Return to the initial position at the workbench.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_moving_parts_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_beauty_sponge_and_cake_to_place": { + "path": "AIRBOT_MMK2_beauty_sponge_and_cake_to_place", + "dataset_name": "beauty_sponge_and_cake_to_place", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Static", + "objects": [ { - "subtask": "Press the gray towel with the left gripper", - "subtask_index": 0 - }, - { - "subtask": "Fold the yellow towel from left to right with left gripper", - "subtask_index": 1 - }, - { - "subtask": "Press the gray towel with the right gripper", - "subtask_index": 2 - }, - { - "subtask": "Fold the yellow towel upwards with the right gripper", - "subtask_index": 3 - }, - { - "subtask": "Fold the gray towel from left to right with left gripper", - "subtask_index": 4 - }, - { - "subtask": "Press the yellow towel with the right gripper", - "subtask_index": 5 - }, - { - "subtask": "Fold the gray towel from right to left with right gripper", - "subtask_index": 6 - }, - { - "subtask": "End", - "subtask_index": 7 - }, - { - "subtask": "Place the yellow towel on the gray towel with the left gripper", - "subtask_index": 8 - }, - { - "subtask": "Fold the yellow towel upwards with the left gripper", - "subtask_index": 9 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the grey towel on the yellow towel with the left gripper", - "subtask_index": 10 + "object_name": "beauty_blender", + "level1": "tools", + "level2": "beauty_blender", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the grey towel on the yellow towel with the right gripper", - "subtask_index": 11 + "object_name": "cake", + "level1": "food", + "level2": "cake", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Fold the gray towel upwards with the right gripper", - "subtask_index": 12 - }, + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-8096", + "dataset_size": "394.9MB", + "statistics": { + "total_episodes": 50, + "total_frames": 8096, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "c4b8c5b1-7a57-48f3-9074-c2a019dbfd16", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Static", + "End", + "Grasp the bullet into the plate with the left gripper", + "Grasp the cake on the table with the right gripper", + "Place the bullet on the table with the left gripper", + "Abnormal", + "Place the cake into the plate with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_beauty_sponge_and_cake_to_place_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_pick_up_the_bottled_water_a": { + "path": "G1edu-u3_pick_up_the_bottled_water_a", + "dataset_name": "pick_up_the_bottled_water_a", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick" + ], + "tasks": "Grasp the water bottle and lift it to the center of the view with right gripper", + "objects": [ { - "subtask": "Press the yellow towel with the left gripper", - "subtask_index": 13 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Move the position of the yellow towel with the left gripper", - "subtask_index": 14 + "object_name": "bottle", + "level1": "container", + "level2": "bottle", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the yellow towel on the gray towel with the right gripper", - "subtask_index": 15 - }, + "object_name": "water", + "level1": "beverages", + "level2": "water", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-12057", + "dataset_size": "153.0MB", + "statistics": { + "total_episodes": 29, + "total_frames": 12057, + "total_tasks": 1, + "total_videos": 29, + "total_chunks": 1, + "chunks_size": 29, + "fps": 30 + }, + "dataset_uuid": "e56a77d6-dbe5-4d31-a397-61ccb616903c", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the water bottle and lift it to the center of the view with right gripper", + "Grasp the water bottle and lift it to the center of the view with left gripper", + "End", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_up_the_bottled_water_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_basket_storage_apple": { + "path": "G1edu-u3_basket_storage_apple", + "dataset_name": "basket_storage_apple", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the apple with the left gripper", + "objects": [ { - "subtask": "Fold the gray towel upwards with the left gripper", - "subtask_index": 16 + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Fold the yellow towel from right to left with right gripper", - "subtask_index": 17 + "object_name": "basket", + "level1": "home_storage", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 18 + "object_name": "apple", + "level1": "fruit", + "level2": "apple", + "level3": null, + "level4": null, + "level5": null } ], - "atomic_actions": [ - "grasp", - "pick", - "place", - "fold" + "operation_platform_height": 77.2, + "frame_range": "0-45574", + "dataset_size": "1.5GB", + "statistics": { + "total_episodes": 88, + "total_frames": 45574, + "total_tasks": 1, + "total_videos": 264, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ad45e74b-fccc-4f12-9f34-a2312636f61c", + "language": [ + "en", + "zh" ], - "robot_name": [ - "Galaxea_R1_Lite" + "task_categories": [ + "robotics" ], - "end_effector_type": "two_finger_gripper", - "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", - "sensor_list": [ - "cam_head_left_rgb", - "cam_head_right_rgb", - "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "sub_tasks": [ + "Grasp the apple with the left gripper", + "Place the apple into the basket with the left gripper", + "End", + "Static", + "Move the basket to the front of the table with the right gripper", + "Grasp the basket with the right gripper", + "null" ], - "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" + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "coordinate_definition": "right-hand-frame", - "joint_rotation_dim": "radian", - "end_rotation_dim": "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" + "data_schema": "G1edu-u3_basket_storage_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_basket_storage_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_open_and_close_the_freezer_door": { + "path": "R1_Lite_open_and_close_the_freezer_door", + "dataset_name": "open_and_close_the_freezer_door", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "open" + ], + "tasks": "Abnormal", + "objects": [ + { + "object_name": "freezer", + "level1": "furniture", + "level2": "freezer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "ceramic_cup", + "level1": "container", + "level2": "ceramic_cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yogurt", + "level1": "food", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "paper_cup", + "level1": "container", + "level2": "paper_cup", + "level3": null, + "level4": null, + "level5": null + } ], + "operation_platform_height": null, + "frame_range": "0-170369", + "dataset_size": "6.6GB", "statistics": { - "total_episodes": 46, - "total_frames": 50022, - "fps": 30, - "total_tasks": 19, - "total_videos": 184, + "total_episodes": 93, + "total_frames": 170369, + "total_tasks": 1, + "total_videos": 279, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, - "camera_views": 4, - "dataset_size": "2.14 GB" - }, - "frame_num": 50022, - "dataset_size": "2.14 GB", - "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_fold_towel_twice_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (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_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", - "splits": { - "train": "0:45" + "fps": 30 }, - "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" - } + "dataset_uuid": "d59cd2ec-8eab-40f4-a630-29a9bbc3f309", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Abnormal", + "End", + "Place the ceramic cup on the table", + "Put the yoghurt in the freezer", + "Take the paper cup out of the freezer", + "Place the yoghurt on the table", + "Take the ceramic cup out of the freezer", + "Put the ceramic cup in the freezer", + "Take the yogurt out of the freezer", + "Open the freezer door", + "Put the paper cup in the freezer", + "Put the yogurt in the freezer", + "Place the paper cup on the table", + "Close the freezer door", + "Grasp the yogur", + "Place the yoghurt on the freezer", + "Place the yogurt on the table", + "Take the yoghurt out of the freezer", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" } ] }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_open_and_close_the_freezer_door_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_open_and_close_the_freezer_door_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_tea_service_table_setting": { - "path": "R1_Lite_tea_service_table_setting", - "dataset_name": "tea_service_table_setting", + "leju_robot_moving_parts_o": { + "path": "leju_robot_moving_parts_o", + "dataset_name": "moving_parts_o", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ @@ -72655,70 +66146,46 @@ "pick", "place" ], - "tasks": "Return the tea bag to its original position", + "tasks": "Return to the initial position at the shelf", "objects": [ { - "object_name": "tea_table", + "object_name": "table", "level1": "furniture", - "level2": "tea_table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "mineral_water", - "level1": "beverages", - "level2": "mineral_water", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cup", - "level1": "container", - "level2": "cup", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "kettle", - "level1": "container", - "level2": "kettle", + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", "level3": null, "level4": null, "level5": null }, { - "object_name": "tea_bag", - "level1": "drink", - "level2": "tea_bag", + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-107465", - "dataset_size": "4.6GB", + "frame_range": "0-745064", + "dataset_size": "51.1GB", "statistics": { - "total_episodes": 109, - "total_frames": 107465, + "total_episodes": 490, + "total_frames": 745064, "total_tasks": 1, - "total_videos": 327, + "total_videos": 1470, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "ae8f641b-7e62-47e3-a80a-aab9866a8d29", + "dataset_uuid": "27cad5ab-323b-4157-acc6-9f7405263110", "language": [ "en", "zh" @@ -72727,19 +66194,14 @@ "robotics" ], "sub_tasks": [ - "Return the tea bag to its original position", - "Pick up the tea bag", - "Pick up the tea cup", - "Return the tea cup to its original position", - "abnormal", - "Return the bottled water to its original position", - "Place it on the right", - "Return the kettle to its original position", - "Place it on the left", - "Place it in front of you", - "Pick up the kettle", - "Pick up the bottled water", - "Place it on the tray", + "Return to the initial position at the shelf", + "Grasp the black part with right gripper", + "End", + "Pick up the large material from the shelf", + "Place the black part on the table with right gripper", + "Move to the table behind body", + "Move the large material to the workbench", + "Insert the large material into the corresponding slot on the workbench", "null" ], "annotations": { @@ -72777,12 +66239,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_tea_service_table_setting_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_tea_service_table_setting_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_moving_parts_o_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_o_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_storage_item": { - "path": "AIRBOT_MMK2_storage_item", - "dataset_name": "storage_item", + "leju_robot_part_placement": { + "path": "leju_robot_part_placement", + "dataset_name": "part_placement", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -72790,10 +66252,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "Place the green rectangular block into the blue bowl with the left gripper", + "tasks": "Insert the small parts into the corresponding slots on the workbench.", "objects": [ { "object_name": "table", @@ -72804,51 +66266,35 @@ "level5": null }, { - "object_name": "building_blocks", - "level1": "toy", - "level2": "building_blocks", + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tape_measure", - "level1": "tool", - "level2": "tape_measure", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-8573", - "dataset_size": "357.6MB", + "operation_platform_height": null, + "frame_range": "0-796570", + "dataset_size": "50.4GB", "statistics": { - "total_episodes": 47, - "total_frames": 8573, + "total_episodes": 538, + "total_frames": 796570, "total_tasks": 1, - "total_videos": 188, + "total_videos": 1614, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "b53b741f-6c4c-401c-a3cf-83ef26539097", + "dataset_uuid": "41b426f1-987c-4320-8263-5f89139cf899", "language": [ "en", "zh" @@ -72857,13 +66303,20 @@ "robotics" ], "sub_tasks": [ - "Place the green rectangular block into the blue bowl with the left gripper", - "Place the tape measure into the pink plate with the right gripper", - "Grasp the tape measure with the right gripper", - "Static", - "Grasp the green rectangular block with the left gripper", + "Insert the small parts into the corresponding slots on the workbench.", + "Move the large parts to the workbench.", + "Pick up the large parts from the shelf.", + "Grasp the black part with right gripper", + "Grasp the gray part with right gripper", "End", - "Abnormal", + "Return to the initial position at the workbench.", + "Place the gray part on the table with right gripper", + "Place the black part on the table with right gripper", + "Move to the table behind body", + "Insert the large parts into the corresponding slots on the workbench.", + "Return to the initial position at the shelf.", + "Move the small parts to the workbench.", + "Pick up the small parts from the shelf.", "null" ], "annotations": { @@ -72901,15 +66354,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_storage_item_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_storage_item_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_part_placement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_part_placement_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_box_storage_parcel_a": { - "path": "leju_robot_box_storage_parcel_a", - "dataset_name": "box_storage_parcel_a", + "Cobot_Magic_move_the_ball": { + "path": "Cobot_Magic_move_the_ball", + "dataset_name": "move_the_ball", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ @@ -72917,7 +66370,7 @@ "pick", "place" ], - "tasks": "Place the package into the parcel locker.", + "tasks": "Put the picked-up object on the table.", "objects": [ { "object_name": "table", @@ -72928,43 +66381,35 @@ "level5": null }, { - "object_name": "box", - "level1": "home_storage", - "level2": "box", + "object_name": "ball", + "level1": "toy", + "level2": "ball", "level3": null, "level4": null, "level5": null }, { - "object_name": "parcel", + "object_name": "plate", "level1": "container", - "level2": "parcel", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "conveyor_belt", - "level1": "industrial_equipment", - "level2": "conveyor_belt", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-189545", - "dataset_size": "9.7GB", + "operation_platform_height": 77.2, + "frame_range": "0-58184", + "dataset_size": "984.3MB", "statistics": { - "total_episodes": 493, - "total_frames": 189545, + "total_episodes": 100, + "total_frames": 58184, "total_tasks": 1, - "total_videos": 1479, + "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "58a31ae7-afbc-4d56-953d-6df89f8c1ba5", + "dataset_uuid": "371a2f88-8a95-4044-ba5d-4c287fd9b679", "language": [ "en", "zh" @@ -72973,10 +66418,10 @@ "robotics" ], "sub_tasks": [ - "Place the package into the parcel locker.", - "Pick up the package from the inbound machine.", - "Pick up the package from the conveyor belt.", - "Place the package onto the inbound machine.", + "Put the picked-up object on the table.", + "Grab the rolling spherical object.", + "Grab the spherical object with your left arm.", + "Place the sphere on the white object.", "null" ], "annotations": { @@ -73014,22 +66459,21 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_box_storage_parcel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_box_storage_parcel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_move_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_move_the_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_place_metal_bowl_af": { - "path": "G1edu-u3_place_metal_bowl_af", - "dataset_name": "place_metal_bowl_af", + "alpha_bot_2_press_the_button_a": { + "path": "alpha_bot_2_press_the_button_a", + "dataset_name": "press_the_button_a", "robot_type": "", "end_effector_type": [ - "three_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "pick", - "place" + "pressbutton" ], - "tasks": "Place the metal bowl on the table with left gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -73040,27 +66484,35 @@ "level5": null }, { - "object_name": "metal_bowl", - "level1": "bowl", - "level2": "metal_bowl", + "object_name": "button", + "level1": "toy", + "level2": "button", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "water_bottle", + "level1": "beverages", + "level2": "water_bottle", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-6265", - "dataset_size": "95.9MB", + "frame_range": "0-91452", + "dataset_size": "1.9GB", "statistics": { - "total_episodes": 38, - "total_frames": 6265, + "total_episodes": 116, + "total_frames": 91452, "total_tasks": 1, - "total_videos": 38, + "total_videos": 464, "total_chunks": 1, - "chunks_size": 39, + "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "7335e7b9-55d2-417a-ba15-8aeba616ce6e", + "dataset_uuid": "f687e0d9-d736-45a4-89f6-ef7ff90a103a", "language": [ "en", "zh" @@ -73069,9 +66521,8 @@ "robotics" ], "sub_tasks": [ - "Place the metal bowl on the table with left gripper", "End", - "Place the metal bowl on the table with right gripper", + "Press the button blocked by the bottle with right gripper", "null" ], "annotations": { @@ -73109,12 +66560,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "alpha_bot_2_press_the_button_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "alpha_bot_2_press_the_button_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_food_storage": { - "path": "RMC-AIDA-L_food_storage", - "dataset_name": "food_storage", + "alpha_bot_2_recover_after_touching_an_obstacle": { + "path": "alpha_bot_2_recover_after_touching_an_obstacle", + "dataset_name": "recover_after_touching_an_obstacle", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -73122,10 +66573,9 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "pick" ], - "tasks": "Lift the woven bag with the left gripper to open it", + "tasks": "Touch the bottle with left gripper", "objects": [ { "object_name": "table", @@ -73136,59 +66586,131 @@ "level5": null }, { - "object_name": "handbag", - "level1": "container", - "level2": "handbag", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread", - "level1": "food", - "level2": "bread", + "object_name": "mineral_water", + "level1": "drinks", + "level2": "mineral_water", "level3": null, "level4": null, "level5": null }, { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", + "object_name": "button", + "level1": "toy", + "level2": "button", "level3": null, "level4": null, "level5": null - }, + } + ], + "operation_platform_height": null, + "frame_range": "0-128391", + "dataset_size": "3.7GB", + "statistics": { + "total_episodes": 130, + "total_frames": 128391, + "total_tasks": 1, + "total_videos": 520, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "aebc9a40-0a90-4fc3-a705-fbc5c7d23392", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Touch the bottle with left gripper", + "End", + "Touch the bottle with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "alpha_bot_2_recover_after_touching_an_obstacle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_pass_the_cleaner_a": { + "path": "leju_robot_pass_the_cleaner_a", + "dataset_name": "pass_the_cleaner_a", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Turn the bottle to the front side.", + "objects": [ { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", + "object_name": "cleaner", + "level1": "daily_necessities", + "level2": "cleaner", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-274806", - "dataset_size": "2.5GB", + "operation_platform_height": null, + "frame_range": "0-169467", + "dataset_size": "8.7GB", "statistics": { - "total_episodes": 499, - "total_frames": 274806, - "total_tasks": 12, - "total_videos": 1497, + "total_episodes": 457, + "total_frames": 169467, + "total_tasks": 1, + "total_videos": 1371, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "f217b0c1-9f1e-4598-9845-0a85906dadf6", + "dataset_uuid": "870e2a78-0b89-486a-bed4-12863a5b00d6", "language": [ "en", "zh" @@ -73197,18 +66719,8 @@ "robotics" ], "sub_tasks": [ - "Lift the woven bag with the left gripper to open it", - "Lower the woven bag with the left gripper to close it", - "abnormal", - "Place the egg yolk pastry into the woven bag with the right gripper", - "Place the peach into the woven bag with the right gripper", - "Pick up the orange with the right gripper", - "Pick up the egg yolk pastry with the right gripper", - "Pick up the bread with the right gripper", - "end", - "Place the bread into the woven bag with the right gripper", - "Place the orange into the woven bag with the right gripper", - "Pick up the peach with the right gripper", + "Turn the bottle to the front side.", + "Pick up the bottle from the table.", "null" ], "annotations": { @@ -73246,12 +66758,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_pass_the_cleaner_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_pass_the_cleaner_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_the_plate_holds_the_fruit": { - "path": "Cobot_Magic_the_plate_holds_the_fruit", - "dataset_name": "the_plate_holds_the_fruit", + "Galbot_g1_steamer_storage_baozi_a": { + "path": "Galbot_g1_steamer_storage_baozi_a", + "dataset_name": "steamer_storage_baozi_a", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -73259,10 +66771,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "use the left arm to grab a banana from the bag", + "tasks": "End", "objects": [ { "object_name": "table", @@ -73273,43 +66785,51 @@ "level5": null }, { - "object_name": "fruit", + "object_name": "baozi", "level1": "food", - "level2": "fruit", + "level2": "baozi", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "steamer", + "level1": "cookware", + "level2": "steamer", "level3": null, "level4": null, "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "pot_lid", + "level1": "daily_necessities", + "level2": "pot_lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-190455", - "dataset_size": "8.3GB", + "frame_range": "0-250217", + "dataset_size": "4.3GB", "statistics": { - "total_episodes": 525, - "total_frames": 190455, - "total_tasks": 6, - "total_videos": 1575, + "total_episodes": 266, + "total_frames": 250217, + "total_tasks": 1, + "total_videos": 798, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "052c69fa-debe-4d27-9d6d-ae6afff264c2", + "dataset_uuid": "1e479c19-9f69-42ac-9238-114fcf1a487c", "language": [ "en", "zh" @@ -73318,38 +66838,11 @@ "robotics" ], "sub_tasks": [ - "use the left arm to grab a banana from the bag", - "use the right arm to grab a kiwi from the bag", - "use the right arm to put the kiwi into the empty plate on the left", - "use the left arm to grab a pear from the bag", - "use the right arm to put the apple into the empty plate on the left", - "use the left arm to put the kiwi into the empty plate on the right", - "use the left arm to grab a kiwi from the bag", - "use the right arm to put the peach into the empty plate on the left", - "use the left arm to put the mango into the empty plate on the right", - "use the right arm to put the pomegranate into the empty plate on the left", - "use the left arm to grab an apple from the bag", - "use the left arm to put the peach into the empty plate on the right", - "use the right arm to grab a pomegranate from the bag", - "use the left arm to grab a mango from the bag", - "use the right arm to put the mango into the empty plate on the left", - "use the right arm to grab a mango from the bag", - "use the right arm to grab a banana from the bag", - "use the right arm to grab a peach from the bag", - "use the right arm to grab an apple from the bag", - "use the left arm to put the banana into the empty plate on the right", - "use the left arm to grab a peach from the bag", - "use the left arm to put the pomegranate into the empty plate on the right", - "use the left arm to put the lemon into the empty plate on the right", - "use the right arm to put the pear into the empty plate on the left", - "use the right arm to put the lemon into the empty plate on the left", - "use the right arm to put the banana into the empty plate on the right", - "use the left arm to grab a lemon from the bag", - "use the right arm to grab a pear from the bag", - "use the left arm to put the apple into the empty plate on the right", - "use the right arm to grab a lemon from the bag", - "use the left arm to put the pear into the empty plate on the right", - "use the left arm to grab a pomegranate from the bag", + "End", + "Place the baozi on the steamer with right gripper", + "Place the pot lid on the steamer with left gripper", + "Grasp the pot lid with left gripper", + "Grasp the baozi in the plate with right gripper", "null" ], "annotations": { @@ -73387,10 +66880,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Galbot_g1_steamer_storage_baozi_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Galbot_g1_steamer_storage_baozi_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth": { + "Airbot_MMK2_unplug": { "task_categories": [ "robotics" ], @@ -73420,10 +66913,10 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth", + "dataset_name": "Airbot_MMK2_unplug", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "office & workspace", + "level1": "office_workspace", "level2": "office", "level3": null, "level4": null, @@ -73432,49 +66925,17 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "table", - "level1": "home_storage", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "deli_water-based_marker", - "level1": "stationery", - "level2": "deli_water-based_marker", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "notebook", - "level1": "stationery", - "level2": "notebook", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "mouse", + "object_name": "power_strips", "level1": "appliances", - "level2": "mouse", + "level2": "power_strips", "level3": null, "level4": null, "level5": null }, { - "object_name": "mouse_pad", + "object_name": "charger", "level1": "appliances", - "level2": "mouse_pad", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "black_table_cloths", - "level1": "laboratory_supplies", - "level2": "black_table_cloths", + "level2": "charger", "level3": null, "level4": null, "level5": null @@ -73482,83 +66943,62 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "the left gripper organize the pen on the notebook then the right gripper organize the mouse on the mouse pad." + "the left hand secures the power strip, while the right hand unplugs the charger and sets it down." ], "sub_tasks": [ { - "subtask": "Right gripper", + "subtask": "End", "subtask_index": 0 }, { - "subtask": "Pick up the mouse with right gripper", + "subtask": "Release socket with the left hand", "subtask_index": 1 }, { - "subtask": "Pick up the marker pen with right gripper", + "subtask": "Put down plug with the right hand", "subtask_index": 2 }, { - "subtask": "Pick up the mouse with left gripper", + "subtask": "Press and hold the socket with the left hand", "subtask_index": 3 }, { - "subtask": "End", + "subtask": "Unplug plug with the right hand", "subtask_index": 4 }, - { - "subtask": "Place the marker pen on the notebook with right gripper", - "subtask_index": 5 - }, - { - "subtask": "Place the mouse on the mouse pad with left gripper", - "subtask_index": 6 - }, - { - "subtask": "Place the marker pen on the notebook with left gripper", - "subtask_index": 7 - }, - { - "subtask": "Left gripper", - "subtask_index": 8 - }, - { - "subtask": "Pick up the marker pen with left gripper", - "subtask_index": 9 - }, - { - "subtask": "Place the mouse on the mouse pad with right gripper", - "subtask_index": 10 - }, { "subtask": "null", - "subtask_index": 11 + "subtask_index": 5 } ], "atomic_actions": [ - "grasp", - "lift", - "lower" + "uncap", + "presss", + "place", + "pick" ], "robot_name": [ - "Agilex_Cobot_Magic" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "end_effector_type": "five_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "cam_right_wrist_rgb", + "cam_front_rgb" ], "came_info": { "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "radian", - "end_translation_dim": "meter", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -73569,23 +67009,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 30, - "total_frames": 20668, + "total_episodes": 90, + "total_frames": 21487, "fps": 30, - "total_tasks": 12, - "total_videos": 90, + "total_tasks": 6, + "total_videos": 360, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 26, - "action_dim": 26, - "camera_views": 3, - "dataset_size": "513.70 MB" + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "870.71 MB" }, - "frame_num": 20668, - "dataset_size": "513.70 MB", - "data_structure": "Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (18 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 21487, + "dataset_size": "870.71 MB", + "data_structure": "Airbot_MMK2_unplug_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (78 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", "splits": { - "train": "0:29" + "train": "0:89" }, "features": { "observation.images.cam_head_rgb": { @@ -73657,10 +67097,33 @@ "has_audio": false } }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, "observation.state": { "dtype": "float32", "shape": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -73669,32 +67132,42 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" ] }, "action": { "dtype": "float32", "shape": [ - 26 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -73703,26 +67176,36 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", - "left_gripper_open", - "left_eef_pos_x_m", - "left_eef_pos_y_m", - "left_eef_pos_z_m", - "left_eef_rot_euler_x_rad", - "left_eef_rot_euler_y_rad", - "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "right_gripper_open", - "right_eef_pos_x_m", - "right_eef_pos_y_m", - "right_eef_pos_z_m", - "right_eef_rot_euler_x_rad", - "right_eef_rot_euler_y_rad", - "right_eef_rot_euler_z_rad" + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" ] }, "timestamp": { @@ -73762,17 +67245,17 @@ }, "subtask_annotation": { "names": null, - "dtype": "int32", "shape": [ 5 - ] + ], + "dtype": "int32" }, "scene_annotation": { "names": null, - "dtype": "int32", "shape": [ 1 - ] + ], + "dtype": "int32" }, "eef_sim_pose_state": { "names": [ @@ -73789,10 +67272,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_sim_pose_action": { "names": [ @@ -73809,130 +67292,70 @@ "right_eef_rot_y", "right_eef_rot_z" ], - "dtype": "float32", "shape": [ 12 - ] + ], + "dtype": "float32" }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", "shape": [ 2 - ] + ], + "dtype": "int32" }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "dtype": "int32", - "shape": [ - 2 - ] - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "dtype": "float32", "shape": [ 2 - ] - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" ], - "dtype": "float32", - "shape": [ - 2 - ] + "dtype": "int32" } }, "authors": { @@ -73954,632 +67377,247 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Galaxea_R1_Lite_move_mouse": { + "G1edu-u3_pullBowl_storage_bread_a": { + "path": "G1edu-u3_pullBowl_storage_bread_a", + "dataset_name": "pullBowl_storage_bread_a", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Abnormal", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate_rack", + "level1": "furniture", + "level2": "plate_rack", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-126861", + "dataset_size": "2.6GB", + "statistics": { + "total_episodes": 178, + "total_frames": 126861, + "total_tasks": 1, + "total_videos": 534, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "11ed8a7f-106a-4c08-98a4-0abdd1b97a52", + "language": [ + "en", + "zh" + ], "task_categories": [ "robotics" ], - "language": [ - "en" + "sub_tasks": [ + "Abnormal", + "Place the long bread in pink bowl with left hand", + "End", + "Grasp the round bread with left hand", + "Grasp the long bread with left hand", + "Place the round bread in pink bowl with left hand", + "Move the pink bowl to the center of table with right hand", + "null" ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", "tags": [ "RoboCOIN", "LeRobot" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pullBowl_storage_bread_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_left_high/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_move_the_position_of_the_brush": { + "path": "R1_Lite_move_the_position_of_the_brush", + "dataset_name": "move_the_position_of_the_brush", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_move_mouse", - "dataset_uuid": "00000000-0000-0000-0000-000000000000", - "scene_type": { - "level1": "office_workspace", - "level2": "office", - "level3": null, - "level4": null, - "level5": null - }, - "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Static", "objects": [ { - "object_name": "mouse", - "level1": "computer_peripherals", - "level2": "mouse", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "mouse_pad", - "level1": "computer_peripherals", - "level2": "mouse_pad", + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", "level3": null, "level4": null, "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "use the left gripper to place the mouse on the left side of the table onto the mouse pad on the right side." - ], - "sub_tasks": [ + }, { - "subtask": "Grasp the mouse with the left gripper", - "subtask_index": 0 + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "Place the mouse on the mouse pad with the left gripper", - "subtask_index": 1 + "object_name": "bath_ball", + "level1": "daily_necessities", + "level2": "bath_ball", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "End", - "subtask_index": 2 + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null }, { - "subtask": "null", - "subtask_index": 3 - } - ], - "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": 30, - "total_frames": 8927, - "fps": 30, - "total_tasks": 4, - "total_videos": 120, - "total_chunks": 1, - "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, - "camera_views": 4, - "dataset_size": "219.01 MB" - }, - "frame_num": 8927, - "dataset_size": "219.01 MB", - "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_move_mouse_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (18 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", - "splits": { - "train": "0:29" - }, - "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 - } + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null }, - "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 - } + { + "object_name": "can", + "level1": "container", + "level2": "can", + "level3": null, + "level4": null, + "level5": null }, - "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" + { + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", + "level3": null, + "level4": null, + "level5": null }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "hard_cleanser", + "level1": "daily_necessities", + "level2": "hard_cleanser", + "level3": null, + "level4": null, + "level5": null }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" + { + "object_name": "peeler", + "level1": "tool", + "level2": "peeler", + "level3": null, + "level4": null, + "level5": null }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - } - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" - } - ] - }, - "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", - "support_info": "For technical support, please open an issue on our GitHub repository.", - "license_details": "apache-2.0", - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", - "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", - "version_info": "Initial Release", - "data_path": "data/chunk-{id}/episode_{id}.parquet", - "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" - }, - "G1edu-u3_put_the_lemon_on_the_plate_ah": { - "path": "G1edu-u3_put_the_lemon_on_the_plate_ah", - "dataset_name": "put_the_lemon_on_the_plate_ah", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place" - ], - "tasks": "Place the lemon on the orange plate with right gripper", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "block", + "level1": "toy", + "level2": "block", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "kitchen_supplies", - "level2": "plate", + "object_name": "duck", + "level1": "toy", + "level2": "duck", "level3": null, "level4": null, "level5": null }, { - "object_name": "lemon", - "level1": "fruits", - "level2": "lemon", + "object_name": "soap", + "level1": "daily_necessities", + "level2": "soap", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-1961", - "dataset_size": "20.4MB", - "statistics": { - "total_episodes": 9, - "total_frames": 1961, - "total_tasks": 1, - "total_videos": 9, - "total_chunks": 1, - "chunks_size": 9, - "fps": 30 - }, - "dataset_uuid": "7f32d00d-3005-45c1-90cb-9a16b5e64034", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the lemon on the orange plate with right gripper", - "End", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_make_fruit_salad": { - "path": "Cobot_Magic_make_fruit_salad", - "dataset_name": "make_fruit_salad", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the banana in the basket with left gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "box", + "level1": "container", + "level2": "box", "level3": null, "level4": null, "level5": null @@ -74593,408 +67631,235 @@ "level5": null }, { - "object_name": "apple", - "level1": "fruit", - "level2": "apple", + "object_name": "cola", + "level1": "drink", + "level2": "cola", "level3": null, "level4": null, "level5": null }, { - "object_name": "bannana", - "level1": "fruit", - "level2": "bannana", + "object_name": "detergent", + "level1": "daily_necessities", + "level2": "detergent", "level3": null, "level4": null, "level5": null }, { - "object_name": "grape", - "level1": "fruit", - "level2": "grape", + "object_name": "egg_beater", + "level1": "electrical_appliances", + "level2": "egg_beater", "level3": null, "level4": null, "level5": null }, { - "object_name": "mango", + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", "level1": "fruit", - "level2": "mango", + "level2": "orange", "level3": null, "level4": null, "level5": null }, { - "object_name": "lemon", + "object_name": "peach", "level1": "fruit", - "level2": "lemon", + "level2": "peach", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-181253", - "dataset_size": "3.4GB", - "statistics": { - "total_episodes": 687, - "total_frames": 181253, - "total_tasks": 5, - "total_videos": 2061, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "271b7c53-966b-4ed0-a493-1efc8fd71d86", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the banana in the basket with left gripper", - "Place the banana in the basket with right gripper", - "Static", - "Place the apple in the basket with right gripper", - "Grasp the grape with right gripper", - "End", - "Grasp the mango with left gripper", - "Grasp the lemon with left gripper", - "Place the mango in the basket with right gripper", - "Grasp the apple with left gripper", - "Place the mango on the table with right gripper", - "Place the lemon in the basket with right gripper", - "Grasp the lemon with right gripper", - "Grasp the grape with left gripper", - "Place the apple in the basket with left gripper", - "Grasp the mango with right gripper", - "Place the grape in the basket with left gripper", - "Abnormal", - "Place the mango in the basket with left gripper", - "Grasp the apple with right gripper", - "Grasp the banana with left gripper", - "Place the lemon in the basket with left gripper", - "Grasp the banana with right gripper", - "Place the grape in the basket with right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_make_fruit_salad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_make_fruit_salad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_screw_the_bottle_cap": { - "path": "AIRBOT_MMK2_screw_the_bottle_cap", - "dataset_name": "screw_the_bottle_cap", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Place the bottle on the table with the left gripper", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "marker", + "level1": "office_supplies", + "level2": "marker", "level3": null, "level4": null, "level5": null }, { - "object_name": "bottle", + "object_name": "rubiks_cube", + "level1": "toy", + "level2": "rubiks_cube", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread_slice", + "level1": "food", + "level2": "bread_slice", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brush", + "level1": "daily_necessities", + "level2": "brush", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yogurt", + "level1": "drink", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "power_strip", + "level1": "electric_appliance", + "level2": "power_strip", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "drink", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soda", + "level1": "drink", + "level2": "soda", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lime", + "level1": "fruit", + "level2": "lime", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee_capsule", + "level1": "drink", + "level2": "coffee_capsule", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "dish", "level1": "container", - "level2": "bottle", + "level2": "dish", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-16965", - "dataset_size": "632.3MB", - "statistics": { - "total_episodes": 50, - "total_frames": 16965, - "total_tasks": 1, - "total_videos": 200, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "311c08d2-fc43-43ec-afbf-f038c651ad6a", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the bottle on the table with the left gripper", - "Grasp the bottle with the left gripper", - "Unscrew the bottle cap with the right hand while holding the bottle with the left hand", - "Lift the bottle up with the left gripper", - "End", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_toy_storage": { - "path": "AIRBOT_MMK2_toy_storage", - "dataset_name": "toy_storage", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Grasp the whale with the left gripper", - "objects": [ + }, { - "object_name": "table", + "object_name": "glass", "level1": "furniture", - "level2": "table", + "level2": "glass", "level3": null, "level4": null, "level5": null }, { - "object_name": "little_dog_doll", - "level1": "toy", - "level2": "little_dog_doll", + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", "level3": null, "level4": null, "level5": null }, { - "object_name": "shark_doll", - "level1": "toy", - "level2": "shark_doll", + "object_name": "gum", + "level1": "daily_necessities", + "level2": "gum", "level3": null, "level4": null, "level5": null }, { - "object_name": "lid", - "level1": "container", - "level2": "lid", + "object_name": "tape", + "level1": "daily_necessities", + "level2": "tape", "level3": null, "level4": null, "level5": null }, { - "object_name": "building_block", - "level1": "toy", - "level2": "building_block", + "object_name": "soft_cleanser", + "level1": "daily_necessities", + "level2": "soft_cleanser", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-28709", - "dataset_size": "1.1GB", - "statistics": { - "total_episodes": 199, - "total_frames": 28709, - "total_tasks": 4, - "total_videos": 796, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "38eb75f9-27a2-42df-817f-90d75b91a582", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Grasp the whale with the left gripper", - "End", - "Place the puppy on the table with the left and right grippers", - "Grasp the puppy with the left and right grippers", - "Static", - "Grasp the large green cube block with the left gripper", - "Place the whale on the white lid with the right gripper", - "Grasp the large red cube block with the right gripper", - "Place the large green cube block on the pink plate with the left gripper", - "Place the large red cube block on the white lid with the right gripper", - "Deliver the whale from left gripper to right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_toy_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_toy_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_mobile_car": { - "path": "AIRBOT_MMK2_mobile_car", - "dataset_name": "mobile_car", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "push" - ], - "tasks": "End", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "chips", + "level1": "food", + "level2": "chips", "level3": null, "level4": null, "level5": null }, { - "object_name": "car", - "level1": "toy", - "level2": "car", + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-6897", - "dataset_size": "175.6MB", + "frame_range": "0-17774", + "dataset_size": "677.0MB", "statistics": { - "total_episodes": 50, - "total_frames": 6897, + "total_episodes": 63, + "total_frames": 17774, "total_tasks": 1, - "total_videos": 200, + "total_videos": 252, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "51dbc118-d1f9-4b26-9b28-98863d08f696", + "dataset_uuid": "0626d7f7-69b7-4fb0-9edc-8ba92d1df7cf", "language": [ "en", "zh" @@ -75003,9 +67868,12 @@ "robotics" ], "sub_tasks": [ - "End", - "Push the toy car from left to right with the left gripper", "Static", + "Place the brush on the table with right gripper", + "Grasp the brush with right gripper", + "Grasp the brush with left gripper", + "Place the brush on the table with left gripper", + "End", "Abnormal", "null" ], @@ -75044,700 +67912,299 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_mobile_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_mobile_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_move_the_position_of_the_brush_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_brush_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_move_the_ball_and_the_cube_block": { - "path": "Cobot_Magic_move_the_ball_and_the_cube_block", - "dataset_name": "move_the_ball_and_the_cube_block", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" + "Galaxea_R1_Lite_pour_solid": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" ], - "tasks": "Grasp the sphere on the table", + "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_solid", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "ousehhold", + "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", + "object_name": "white_table", "level1": "furniture", - "level2": "table", + "level2": "white_table", "level3": null, "level4": null, "level5": null }, { - "object_name": "ball", - "level1": "toy", - "level2": "ball", + "object_name": "plastic_cup", + "level1": "cups", + "level2": "plastic_cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "cube_block", - "level1": "toy", - "level2": "cube_block", + "object_name": "green_dish", + "level1": "plates", + "level2": "green_dish", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pink_bowl", + "level1": "plastic_bowls", + "level2": "pink_bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "solid", + "level1": "materials", + "level2": "solid", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-23991", - "dataset_size": "451.4MB", - "statistics": { - "total_episodes": 98, - "total_frames": 23991, - "total_tasks": 1, - "total_videos": 294, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "7bcc81f3-9d87-4dbc-a06b-fb8a69efe0fb", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "use a gripper to pick up the cup and pour the solid into a bowl or tray." ], "sub_tasks": [ - "Grasp the sphere on the table", - "Place the ball into the sphere recess", - "End", - "Place the ball on the table", - "Pick up the ball", - "Place the sphere recess in the center of the table", - "Place the sphere into the sphere-shaped recess", - "Pick up the sphere recess", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_garbage_disposal": { - "path": "R1_Lite_garbage_disposal", - "dataset_name": "garbage_disposal", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pick up the garbage", - "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the glass of shrimp with the left gripper", + "subtask_index": 0 }, { - "object_name": "garbage", - "level1": "garbage", - "level2": "garbage", - "level3": null, - "level4": null, - "level5": null + "subtask": "Pick up blue cup filled with coffee beans with left gripper", + "subtask_index": 1 }, { - "object_name": "trash_can", - "level1": "container", - "level2": "trash_can", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-70054", - "dataset_size": "3.7GB", - "statistics": { - "total_episodes": 81, - "total_frames": 70054, - "total_tasks": 1, - "total_videos": 243, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "3c93f53a-ad7f-446d-ab74-686039cffcdf", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick up the garbage", - "abnromal", - "Put the garbage in the trash can", - "Hand it to the other hand", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_garbage_disposal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_garbage_disposal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_moving_parts_k": { - "path": "leju_robot_moving_parts_k", - "dataset_name": "moving_parts_k", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Pick up the small component from the shelf.", - "objects": [ + "subtask": "Place blue cup with coffee beans on the table with left gripper", + "subtask_index": 2 + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "subtask": "Pour the shrimp into the green bowl with the left gripper", + "subtask_index": 3 }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", - "level3": null, - "level4": null, - "level5": null + "subtask": "Pour the coffee beans into the pink bowl with the left gripper", + "subtask_index": 4 }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", - "level3": null, - "level4": null, - "level5": null + "subtask": "Pour the coffee beans into the pink bowl with the right gripper", + "subtask_index": 5 + }, + { + "subtask": "Left gripper", + "subtask_index": 6 + }, + { + "subtask": "Pour the shrimp into the green bowl with the right gripper", + "subtask_index": 7 + }, + { + "subtask": "Pick up blue cup filled with shrimp with left gripper", + "subtask_index": 8 + }, + { + "subtask": "Place blue cup with shrimp on the table with left gripper", + "subtask_index": 9 + }, + { + "subtask": "Pick up blue cup filled with coffee beans with right gripper", + "subtask_index": 10 + }, + { + "subtask": "Grasp the glass of coffee beans with the left gripper", + "subtask_index": 11 + }, + { + "subtask": "Pour the shrimp into the pink bowl with left gripper", + "subtask_index": 12 + }, + { + "subtask": "Pour the coffee beans into the green bowl with the left gripper", + "subtask_index": 13 + }, + { + "subtask": "Pour the coffee beans into the pink bowl with left gripper", + "subtask_index": 14 + }, + { + "subtask": "Grasp the glass of coffee beans with the right gripper", + "subtask_index": 15 + }, + { + "subtask": "Pour the coffee beans into the green plate with the right gripper", + "subtask_index": 16 + }, + { + "subtask": "Pour the shrimp into the pink bowl with the right gripper", + "subtask_index": 17 + }, + { + "subtask": "Grasp the glass of shrimp with the right gripper", + "subtask_index": 18 + }, + { + "subtask": "Pour the coffee beans into the green plate with the left gripper", + "subtask_index": 19 + }, + { + "subtask": "Place blue cup with coffee powder on the table with left gripper", + "subtask_index": 20 + }, + { + "subtask": "Place the glass cup with the right gripper", + "subtask_index": 21 + }, + { + "subtask": "Place blue cup with coffee beans on the table with right gripper", + "subtask_index": 22 + }, + { + "subtask": "End", + "subtask_index": 23 + }, + { + "subtask": "Pour the coffee beans into the green bowl with the right gripper", + "subtask_index": 24 + }, + { + "subtask": "Place blue cup with shrimp on the table with right gripper", + "subtask_index": 25 + }, + { + "subtask": "Pick up blue cup filled with shrimp with right gripper", + "subtask_index": 26 + }, + { + "subtask": "Pour the shrimp into the pink bowl with right gripper", + "subtask_index": 27 + }, + { + "subtask": "Pour the shrimp into the pink bowl with the left gripper", + "subtask_index": 28 + }, + { + "subtask": "Pour the shrimp into the blue basin with left gripper", + "subtask_index": 29 + }, + { + "subtask": "Pour the coffee beans into the blue basin with right gripper", + "subtask_index": 30 + }, + { + "subtask": "Right gripper", + "subtask_index": 31 + }, + { + "subtask": "Pour the shrimp into the blue basin with right gripper", + "subtask_index": 32 + }, + { + "subtask": "Place the glass cup with the left gripper", + "subtask_index": 33 + }, + { + "subtask": "null", + "subtask_index": 34 } ], - "operation_platform_height": null, - "frame_range": "0-468307", - "dataset_size": "28.4GB", - "statistics": { - "total_episodes": 329, - "total_frames": 468307, - "total_tasks": 1, - "total_videos": 987, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "062231be-de5e-4cef-b404-096085be3e9e", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "pick", + "place", + "pour" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Galaxea_R1_Lite" ], - "sub_tasks": [ - "Pick up the small component from the shelf.", - "Grasp the white part with right gripper", - "End", - "Move to the initial position at the workbench.", - "Insert the small component into the corresponding slot on the workbench.", - "Place the white part on the table with right gripper", - "Move to the table behind body", - "Move the small component to the workbench.", - "null" + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_left_rgb", + "cam_head_right_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] + "came_info": { + "cam_head_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" }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_k_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_k_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AgiBot-g1_mobile_accessory_storage_box_f": { - "path": "AgiBot-g1_mobile_accessory_storage_box_f", - "dataset_name": "mobile_accessory_storage_box_f", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place", - "pick" - ], - "tasks": "Place the mouse and power cord into the box.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "accessories", - "level1": "electronic_products", - "level2": "accessories", - "level3": null, - "level4": null, - "level5": null - } + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" ], - "operation_platform_height": null, - "frame_range": "0-31735", - "dataset_size": "12.2GB", "statistics": { - "total_episodes": 68, - "total_frames": 31735, - "total_tasks": 1, - "total_videos": 544, + "total_episodes": 39, + "total_frames": 16353, + "fps": 30, + "total_tasks": 35, + "total_videos": 156, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "459.77 MB" }, - "dataset_uuid": "52a333b0-b320-467a-a555-12066d086c01", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the mouse and power cord into the box.", - "Simultaneously pick up the mouse and power cord from the accessory packaging area.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_place_the_books": { - "path": "AIRBOT_MMK2_place_the_books", - "dataset_name": "place_the_books", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "push" - ], - "tasks": "Push the book from right to left with the right gripper", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "book", - "level1": "office_supplies", - "level2": "book", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bookshelf", - "level1": "container", - "level2": "bookshelf", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-20564", - "dataset_size": "1.1GB", - "statistics": { - "total_episodes": 49, - "total_frames": 20564, - "total_tasks": 1, - "total_videos": 196, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "e4617854-ddc2-4d6e-b108-2369485a9167", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Push the book from right to left with the right gripper", - "Grasp the book with the left gripper", - "Place the book into the front mezzanine of the bookshelf with the left gripper", - "Static", - "End", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_place_the_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Airbot_MMK2_move_phone_twice": { - "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_phone_twice", - "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 - }, - { - "object_name": "paper_boxes", - "level1": "home_storage", - "level2": "paper_boxes", - "level3": null, - "level4": null, - "level5": null - } - ], - "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", - "task_instruction": [ - "place the mobile phone on the box with your left hand and take it off with your right hand." - ], - "sub_tasks": [ - { - "subtask": "Grasp the telephone with the right gripper", - "subtask_index": 0 - }, - { - "subtask": "End", - "subtask_index": 1 - }, - { - "subtask": "Abnormal", - "subtask_index": 2 - }, - { - "subtask": "Place the telephone on the box with the left gripper", - "subtask_index": 3 - }, - { - "subtask": "Static", - "subtask_index": 4 - }, - { - "subtask": "Grasp the telephone with the left gripper", - "subtask_index": 5 - }, - { - "subtask": "Place the telephone on the table 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": 50, - "total_frames": 9795, - "fps": 30, - "total_tasks": 8, - "total_videos": 200, - "total_chunks": 1, - "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "512.21 MB" - }, - "frame_num": 9795, - "dataset_size": "512.21 MB", - "data_structure": "Airbot_MMK2_move_phone_twice_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (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" + "frame_num": 16353, + "dataset_size": "459.77 MB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_pour_solid_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (27 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:38" }, "features": { - "observation.images.cam_head_rgb": { + "observation.images.cam_head_left_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -75746,8 +68213,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -75756,11 +68223,11 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_head_right_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -75769,8 +68236,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -75779,10 +68246,10 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 480, + 360, 640, 3 ], @@ -75792,7 +68259,7 @@ "channels" ], "info": { - "video.height": 480, + "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -75802,10 +68269,10 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 480, + 360, 640, 3 ], @@ -75815,7 +68282,7 @@ "channels" ], "info": { - "video.height": 480, + "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -75828,7 +68295,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -75843,36 +68310,14 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -75887,30 +68332,8 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "timestamp": { @@ -76061,6 +68484,66 @@ 2 ], "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" } }, "authors": { @@ -76082,14 +68565,14 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_pull_the_syringe_piston": { - "path": "AIRBOT_MMK2_pull_the_syringe_piston", - "dataset_name": "pull_the_syringe_piston", + "R1_Lite_boil_water_in_a_kettle": { + "path": "R1_Lite_boil_water_in_a_kettle", + "dataset_name": "boil_water_in_a_kettle", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ @@ -76097,38 +68580,54 @@ "pick", "place" ], - "tasks": "End", + "tasks": "Start boiling water", "objects": [ { - "object_name": "table", + "object_name": "stove_top", "level1": "furniture", - "level2": "table", + "level2": "stove_top", "level3": null, "level4": null, "level5": null }, { - "object_name": "syringe", - "level1": "medical_supplies", - "level2": "syringe", + "object_name": "boil_the_kettle", + "level1": "electric_appliance", + "level2": "boil_the_kettle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "heating_plate", + "level1": "electric_appliance", + "level2": "heating_plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sink", + "level1": "container", + "level2": "sink", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-9990", - "dataset_size": "473.9MB", + "operation_platform_height": null, + "frame_range": "0-85792", + "dataset_size": "3.9GB", "statistics": { - "total_episodes": 50, - "total_frames": 9990, + "total_episodes": 75, + "total_frames": 85792, "total_tasks": 1, - "total_videos": 200, + "total_videos": 225, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "0dd7afd0-0119-4a2d-a6bf-0eff2463b0bd", + "dataset_uuid": "68764373-ee5e-45aa-ad8a-1ca6cf3e0834", "language": [ "en", "zh" @@ -76137,14 +68636,13 @@ "robotics" ], "sub_tasks": [ - "End", - "Grasp the syringe with the left gripper", - "Pull the piston with the right gripper", - "Lift the syringe with the left gripper", - "Grasp the piston with the right gripper", - "Place the syringe on the table with the left gripper", - "Static", - "Abnormal", + "Start boiling water", + "Place it on the power base", + "Finish boiling water", + "abnormal", + "Place it by the sink", + "Pick up the kettle", + "Grab the kettle", "null" ], "annotations": { @@ -76182,23 +68680,22 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_boil_water_in_a_kettle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_boil_water_in_a_kettle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_move_the_position_of_the_peeler": { - "path": "R1_Lite_move_the_position_of_the_peeler", - "dataset_name": "move_the_position_of_the_peeler", + "G1edu-u3_place_apple_c": { + "path": "G1edu-u3_place_apple_c", + "dataset_name": "place_apple_c", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ - "place", "pick", - "grasp" + "place" ], - "tasks": "Grasp the peeler with right gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -76209,355 +68706,27 @@ "level5": null }, { - "object_name": "pen", - "level1": "office_supplies", - "level2": "pen", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "banana", - "level1": "fruit", - "level2": "banana", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bath_ball", - "level1": "daily_necessities", - "level2": "bath_ball", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "can", - "level1": "container", - "level2": "can", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eraser", - "level1": "office_supplies", - "level2": "eraser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "hard_cleanser", - "level1": "daily_necessities", - "level2": "hard_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "long_bread", - "level1": "food", - "level2": "long_bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peeler", - "level1": "tool", - "level2": "peeler", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "block", - "level1": "toy", - "level2": "block", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "duck", - "level1": "toy", - "level2": "duck", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soap", - "level1": "daily_necessities", - "level2": "soap", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "basket", - "level1": "container", - "level2": "basket", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cola", - "level1": "drink", - "level2": "cola", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "detergent", - "level1": "daily_necessities", - "level2": "detergent", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_beater", - "level1": "electrical_appliances", - "level2": "egg_beater", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "orange", - "level1": "fruit", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "peach", - "level1": "fruit", - "level2": "peach", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "marker", - "level1": "office_supplies", - "level2": "marker", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rubiks_cube", - "level1": "toy", - "level2": "rubiks_cube", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread_slice", - "level1": "food", - "level2": "bread_slice", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "brush", - "level1": "daily_necessities", - "level2": "brush", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "yogurt", - "level1": "drink", - "level2": "yogurt", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "power_strip", - "level1": "electric_appliance", - "level2": "power_strip", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "milk", - "level1": "drink", - "level2": "milk", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soda", - "level1": "drink", - "level2": "soda", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lime", + "object_name": "apple", "level1": "fruit", - "level2": "lime", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "coffee_capsule", - "level1": "drink", - "level2": "coffee_capsule", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "dish", - "level1": "container", - "level2": "dish", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glass", - "level1": "furniture", - "level2": "glass", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "glasses_case", - "level1": "daily_necessities", - "level2": "glasses_case", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "gum", - "level1": "daily_necessities", - "level2": "gum", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tape", - "level1": "daily_necessities", - "level2": "tape", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "soft_cleanser", - "level1": "daily_necessities", - "level2": "soft_cleanser", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chips", - "level1": "food", - "level2": "chips", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "chocolate", - "level1": "food", - "level2": "chocolate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cookie", - "level1": "food", - "level2": "cookie", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "spoon", - "level1": "tableware", - "level2": "spoon", + "level2": "apple", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-10477", - "dataset_size": "369.6MB", + "operation_platform_height": null, + "frame_range": "0-6567", + "dataset_size": "81.6MB", "statistics": { - "total_episodes": 43, - "total_frames": 10477, + "total_episodes": 29, + "total_frames": 6567, "total_tasks": 1, - "total_videos": 172, + "total_videos": 29, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 30, "fps": 30 }, - "dataset_uuid": "32cc9e19-b5a0-4f09-a124-2f042003a5ed", + "dataset_uuid": "fadd4ee3-65b3-497e-a817-3885814cab0c", "language": [ "en", "zh" @@ -76566,12 +68735,9 @@ "robotics" ], "sub_tasks": [ - "Grasp the peeler with right gripper", - "Static", - "Grasp the peeler with left gripper", "End", - "Place the peeler on the table with right gripper", - "Place the peeler on the table with left gripper", + "Place the apple on the table with right gripper", + "Place the apple on the table with left gripper", "null" ], "annotations": { @@ -76609,23 +68775,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_move_the_position_of_the_peeler_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_move_the_position_of_the_peeler_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_place_apple_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_place_apple_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife": { - "path": "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife", - "dataset_name": "place_the_pliers_and_wallpaper_knife", + "G1edu-u3_food_storage": { + "path": "G1edu-u3_food_storage", + "dataset_name": "food_storage", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "Static", + "tasks": "Grasp the bowl with the left gripper", "objects": [ { "object_name": "table", @@ -76636,43 +68802,59 @@ "level5": null }, { - "object_name": "pliers", - "level1": "tool", - "level2": "pliers", + "object_name": "basket", + "level1": "home_storage", + "level2": "basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "lid", - "level1": "container", - "level2": "lid", + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "utility_knife", - "level1": "tool", - "level2": "utility_knife", + "object_name": "bowl", + "level1": "bowl", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "donut", + "level1": "food", + "level2": "donut", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cake", + "level1": "bread", + "level2": "cake", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-8236", - "dataset_size": "230.1MB", + "frame_range": "0-316377", + "dataset_size": "13.6GB", "statistics": { - "total_episodes": 50, - "total_frames": 8236, + "total_episodes": 190, + "total_frames": 316377, "total_tasks": 1, - "total_videos": 200, + "total_videos": 570, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "dc1abf9a-1c9d-43f0-bf5f-2c0f52365a88", + "dataset_uuid": "4f2a72fa-3388-401a-ab17-b437417cce23", "language": [ "en", "zh" @@ -76681,13 +68863,14 @@ "robotics" ], "sub_tasks": [ - "Static", + "Grasp the bowl with the left gripper", + "Pour the cake into the basket with the left gripper", "End", - "Place the utility knife into white basket with the right gripper", - "Place the plier into white basket with the left gripper", + "Place the bowl in the center of the table with the left gripper", + "Pick up the bread with the right gripper and place it on the plate", + "Place the bowl on the table with the left gripper", + "Push the bowl to the center of the table using the left gripper", "Abnormal", - "Grasp the plier with the left gripper", - "Grasp the utility knife with the right gripper", "null" ], "annotations": { @@ -76725,12 +68908,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.color_left_wrist/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.color_right_wrist/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "RMC-AIDA-L_fold_shirt": { - "path": "RMC-AIDA-L_fold_shirt", - "dataset_name": "fold_shirt", + "Cobot_Magic_cube_reset": { + "path": "Cobot_Magic_cube_reset", + "dataset_name": "cube_reset", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -76739,10 +68922,9 @@ "atomic_actions": [ "grasp", "pick", - "fold", "place" ], - "tasks": "Fold the lower left sleeve with the left hand.", + "tasks": "End", "objects": [ { "object_name": "table", @@ -76753,27 +68935,35 @@ "level5": null }, { - "object_name": "shirt", - "level1": "clothing", - "level2": "shirt", + "object_name": "cube_block", + "level1": "toy", + "level2": "cube_block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cube_groove", + "level1": "container", + "level2": "cube_groove", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-3512125", - "dataset_size": "29.7GB", + "frame_range": "0-28883", + "dataset_size": "514.5MB", "statistics": { - "total_episodes": 1487, - "total_frames": 3512125, - "total_tasks": 6, - "total_videos": 4461, - "total_chunks": 2, + "total_episodes": 98, + "total_frames": 28883, + "total_tasks": 1, + "total_videos": 294, + "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "bbe55f1a-041d-4956-b4a9-17c9457510aa", + "dataset_uuid": "5f4b3baf-119d-489b-b64d-59ea1b989422", "language": [ "en", "zh" @@ -76782,27 +68972,11 @@ "robotics" ], "sub_tasks": [ - "Fold the lower left sleeve with the left hand.", - "Fold the lower left sleeve to the left.", - "Fold the clothes with the right hand.", - "Fold the clothes to the right.", - "Press the middle of the clothes with the right hand.", - "Pull the clothes with the right hand.", - "Discard.", - "Grab the upper right corner of the clothes with the right hand.", - "Grab the lower left corner of the clothes with the left hand.", - "Fold the lower right sleeve to the right.", - "Pull the clothes to the left.", - "Pull the clothes with the left hand.", - "Fold the clothes with the left hand.", - "Push the clothes to the left.", - "Grab the upper left corner of the clothes with the left hand.", - "Pull the clothes to the right.", - "Grab the lower right corner of the clothes with the right hand.", - "Fold the lower right sleeve with the right hand.", - "end", - "Fold the clothes to the left.", - "Push the clothes with the left hand.", + "End", + "Pick up the cube", + "Grasp the cube", + "Place cube into the cube recess", + "Place cube into the cube-shaped recess", "null" ], "annotations": { @@ -76840,12 +69014,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_cube_reset_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_cube_reset_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_water_bottle_storage": { - "path": "Cobot_Magic_water_bottle_storage", - "dataset_name": "water_bottle_storage", + "Split_aloha_fold_the_pants": { + "path": "Split_aloha_fold_the_pants", + "dataset_name": "fold_the_pants", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -76853,12 +69027,9 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place", - "open", - "close" + "fold" ], - "tasks": "End", + "tasks": "Fold the bottom of the pants upward", "objects": [ { "object_name": "table", @@ -76869,35 +69040,27 @@ "level5": null }, { - "object_name": "drawer", - "level1": "furniture", - "level2": "drawer", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "water_bottle", - "level1": "container", - "level2": "water_bottle", + "object_name": "pants", + "level1": "clothing", + "level2": "pants", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-56495", - "dataset_size": "1.0GB", + "frame_range": "0-402577", + "dataset_size": "8.5GB", "statistics": { - "total_episodes": 100, - "total_frames": 56495, - "total_tasks": 1, - "total_videos": 300, + "total_episodes": 486, + "total_frames": 402577, + "total_tasks": 4, + "total_videos": 1458, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "d77bcbca-f9c3-445e-b349-2c6e1470f4b0", + "dataset_uuid": "2d20404b-b035-4962-9e8e-055858867cb3", "language": [ "en", "zh" @@ -76906,14 +69069,9 @@ "robotics" ], "sub_tasks": [ - "End", - "Place the water bottle inside the drawer.", - "Close the drawer.", - "Place the water bottle in the top drawer with the left gripper", - "Close the top drawer with the right gripper", - "Open the top drawer with the right gripper", - "Open the drawer.", - "Pick up the water bottle with the left gripper", + "Fold the bottom of the pants upward", + "Fold the pants from left to right", + "Fold your pants from right to left", "null" ], "annotations": { @@ -76951,23 +69109,22 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_water_bottle_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_water_bottle_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Split_aloha_fold_the_pants_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_fold_the_pants_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_make_breakfast": { - "path": "R1_Lite_make_breakfast", - "dataset_name": "make_breakfast", + "G1edu-u3_place_metal_bowl_ae": { + "path": "G1edu-u3_place_metal_bowl_ae", + "dataset_name": "place_metal_bowl_ae", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ - "grasp", "pick", "place" ], - "tasks": "Put the egg in the bowl", + "tasks": "Place the metal bowl on the table with left gripper", "objects": [ { "object_name": "table", @@ -76978,83 +69135,27 @@ "level5": null }, { - "object_name": "bread", - "level1": "food", - "level2": "bread", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "plate", - "level1": "container", - "level2": "plate", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "eggs", - "level1": "food", - "level2": "eggs", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "hot_water_bottle", - "level1": "electric_appliance", - "level2": "hot_water_bottle", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cup", - "level1": "container", - "level2": "cup", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bread_machine", - "level1": "electric_appliance", - "level2": "bread_machine", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "fruit", - "level1": "food", - "level2": "fruir", + "object_name": "metal_bowl", + "level1": "bowl", + "level2": "metal_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-105680", - "dataset_size": "6.2GB", + "frame_range": "0-7884", + "dataset_size": "120.4MB", "statistics": { - "total_episodes": 45, - "total_frames": 105680, + "total_episodes": 38, + "total_frames": 7884, "total_tasks": 1, - "total_videos": 135, + "total_videos": 38, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 39, "fps": 30 }, - "dataset_uuid": "398b647f-5d05-4f3c-8367-2d7077c8c9fe", + "dataset_uuid": "58ed5982-2a5f-4762-a995-5d590a2beeb4", "language": [ "en", "zh" @@ -77063,17 +69164,9 @@ "robotics" ], "sub_tasks": [ - "Put the egg in the bowl", - "Put the bread slices in the toaster", - "Put the kettle back", - "Pour water into a cup", - "abnormal", - "Put the baked bread on a plate", - "Use a bread toaster", - "Put the fruit on a plate", - "Pick up the kettle", - "Pick up the egg", - "Pick up the bread slice", + "Place the metal bowl on the table with left gripper", + "End", + "Place the metal bowl on the table with right gripper", "null" ], "annotations": { @@ -77111,10 +69204,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_make_breakfast_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_make_breakfast_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_place_metal_bowl_ae_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_place_metal_bowl_ae_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_slide_block": { + "Airbot_MMK2_storage_tape_measure_umbrella": { "task_categories": [ "robotics" ], @@ -77144,11 +69237,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_slide_block", + "dataset_name": "Airbot_MMK2_storage_tape_measure_umbrella", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { "level1": "household", - "level2": "bedroom", + "level2": "living_room", "level3": null, "level4": null, "level5": null @@ -77156,9 +69249,25 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "educational_building_blocks", - "level1": "toys", - "level2": "educational_building_blocks", + "object_name": "basin", + "level1": "storage_utensils", + "level2": "basin", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape_measure", + "level1": "rulers", + "level2": "tape_measure", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "umbrella", + "level1": "items", + "level2": "umbrella", "level3": null, "level4": null, "level5": null @@ -77166,49 +69275,42 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "press the building block with right hand to move its position." + "put the tape measure and the umbrella in the basin." ], "sub_tasks": [ { - "subtask": "Move the orange cylinder to the right side of the box with right gripper", + "subtask": "End", "subtask_index": 0 }, { - "subtask": "End", + "subtask": "Grasp the tape measure with the right gripper", "subtask_index": 1 }, { - "subtask": "Move the blue cube to the upper right side of the box with right gripper", + "subtask": "Grasp the umbrella with the left gripper", "subtask_index": 2 }, { - "subtask": "Adjust the build blocks", + "subtask": "Static", "subtask_index": 3 }, { - "subtask": "Move the green cylinder to the right side of the box with right gripper", + "subtask": "Place the umbrella in the white basket with the left gripper", "subtask_index": 4 }, { - "subtask": "Move the wooden arched build blocks to the upper right side of the box with right gripper", + "subtask": "Place the tape measure in the white basket with the right gripper", "subtask_index": 5 }, - { - "subtask": "Abnormal", - "subtask_index": 6 - }, - { - "subtask": "Move the yellow cube to the upper right side of the box with right gripper", - "subtask_index": 7 - }, { "subtask": "null", - "subtask_index": 8 + "subtask_index": 6 } ], "atomic_actions": [ - "press", - "push" + "grasp", + "pick", + "place" ], "robot_name": [ "Airbot_MMK2" @@ -77242,23 +69344,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 173, - "total_frames": 52760, + "total_episodes": 40, + "total_frames": 7112, "fps": 30, - "total_tasks": 9, - "total_videos": 692, + "total_tasks": 7, + "total_videos": 160, "total_chunks": 1, "chunks_size": 1000, "state_dim": 36, "action_dim": 36, "camera_views": 4, - "dataset_size": "2.13 GB" + "dataset_size": "236.10 MB" }, - "frame_num": 52760, - "dataset_size": "2.13 GB", - "data_structure": "Airbot_MMK2_slide_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| `-- ... (161 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 7112, + "dataset_size": "236.10 MB", + "data_structure": "Airbot_MMK2_storage_tape_measure_umbrella_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (28 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", "splits": { - "train": "0:172" + "train": "0:39" }, "features": { "observation.images.cam_head_rgb": { @@ -77612,9 +69714,9 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "Cobot_Magic_move_the_small_ball": { - "path": "Cobot_Magic_move_the_small_ball", - "dataset_name": "move_the_small_ball", + "AgiBot-g1_robotic_arm_picks_up_parts": { + "path": "AgiBot-g1_robotic_arm_picks_up_parts", + "dataset_name": "robotic_arm_picks_up_parts", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -77625,7 +69727,7 @@ "pick", "place" ], - "tasks": "Grasp the spherical object on the right side", + "tasks": "Place the hard drive bracket into the box.", "objects": [ { "object_name": "table", @@ -77636,27 +69738,35 @@ "level5": null }, { - "object_name": "spherical_object", - "level1": "toy", - "level2": "spherical_object", + "object_name": "black_container", + "level1": "container", + "level2": "black_container", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-25598", - "dataset_size": "404.6MB", + "operation_platform_height": null, + "frame_range": "0-30190", + "dataset_size": "15.0GB", "statistics": { - "total_episodes": 100, - "total_frames": 25598, + "total_episodes": 53, + "total_frames": 30190, "total_tasks": 1, - "total_videos": 300, + "total_videos": 424, "total_chunks": 1, "chunks_size": 1000, - "fps": 50 + "fps": 30 }, - "dataset_uuid": "d3bee16b-97e7-4e2b-ae25-346189946b81", + "dataset_uuid": "9d81f45b-a37d-46ad-b5cd-899737518fb6", "language": [ "en", "zh" @@ -77665,8 +69775,8 @@ "robotics" ], "sub_tasks": [ - "Grasp the spherical object on the right side", - "Place the picked object on the left side of the table", + "Place the hard drive bracket into the box.", + "Pick up the hard drive bracket from the feeding area.", "null" ], "annotations": { @@ -77704,124 +69814,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_move_the_small_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_move_the_small_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "leju_robot_hotel_services_d": { - "path": "leju_robot_hotel_services_d", - "dataset_name": "hotel_services_d", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "Hand the room key to the person.", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", - "level1": "home_storage", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "card", - "level1": "nfc", - "level2": "card", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "sensor", - "level1": "electronic_products", - "level2": "sensor", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-224505", - "dataset_size": "15.1GB", - "statistics": { - "total_episodes": 324, - "total_frames": 224505, - "total_tasks": 1, - "total_videos": 972, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "83fb3fa9-72ea-4860-a22f-c6a5a597df39", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Hand the room key to the person.", - "Place the ID card on the card reader.", - "Take the ID card from the person's hand.", - "Pick up the room key from the key card box.", - "Hand the ID card to the person.", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "leju_robot_hotel_services_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_hotel_services_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_robotic_arm_picks_up_parts_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube": { + "Airbot_MMK2_move_medicine_bottle": { "task_categories": [ "robotics" ], @@ -77851,11 +69847,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube", + "dataset_name": "Airbot_MMK2_move_medicine_bottle", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "office_workspace", - "level2": "office", + "level1": "medical_healthcare", + "level2": "pharmacy", "level3": null, "level4": null, "level5": null @@ -77863,49 +69859,25 @@ "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", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "large_test_tubes", - "level1": "laboratory_supplies", - "level2": "large_test_tubes", + "object_name": "medicine_bottle", + "level1": "container", + "level2": "medicine_bottle", "level3": null, "level4": null, "level5": null }, { - "object_name": "beaker", - "level1": "holding_utensils", - "level2": "beaker", + "object_name": "board", + "level1": "material", + "level2": "board", "level3": null, "level4": null, "level5": null @@ -77913,60 +69885,63 @@ ], "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 red pigment by grippers and pour them into the beaker." + "place the medicine bottles on the table onto the board with both hands." ], "sub_tasks": [ { - "subtask": "Grasp the red reagent with the left gripper", + "subtask": "Place the white bottle on the white board with the right gripper", "subtask_index": 0 }, { - "subtask": "Pour the red reagent into the graduated cylinder with the left gripper", + "subtask": "Abnormal", "subtask_index": 1 }, { - "subtask": "End", + "subtask": "Grasp the white bottle with the left gripper", "subtask_index": 2 }, { - "subtask": "Place the test tube into the pink bowl with the left gripper", + "subtask": "Static", "subtask_index": 3 }, { - "subtask": "Grasp the yellow reagent with the left gripper", + "subtask": "End", "subtask_index": 4 }, { - "subtask": "Pour the yellow reagent into the graduated cylinder with the left gripper", + "subtask": "Grasp the white bottle the right gripper", "subtask_index": 5 }, { - "subtask": "null", + "subtask": "Place the white bottle on the white board with the left gripper", "subtask_index": 6 + }, + { + "subtask": "null", + "subtask_index": 7 } ], "atomic_actions": [ "grasp", "pick", - "place", - "pour" + "place" ], "robot_name": [ - "Galaxea_R1_Lite" + "Airbot_MMK2" ], - "end_effector_type": "two_finger_gripper", + "end_effector_type": "five_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_left_rgb", - "cam_head_right_rgb", + "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb" + "cam_right_wrist_rgb", + "cam_front_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" + "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", @@ -77983,30 +69958,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 100, - "total_frames": 89688, + "total_episodes": 50, + "total_frames": 16815, "fps": 30, - "total_tasks": 7, - "total_videos": 400, + "total_tasks": 8, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, + "state_dim": 36, + "action_dim": 36, "camera_views": 4, - "dataset_size": "2.93 GB" + "dataset_size": "493.20 MB" }, - "frame_num": 89688, - "dataset_size": "2.93 GB", - "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 16815, + "dataset_size": "493.20 MB", + "data_structure": "Airbot_MMK2_move_medicine_bottle_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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": "0:99" + "train": "0:49" }, "features": { - "observation.images.cam_head_left_rgb": { + "observation.images.cam_head_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -78015,8 +69990,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -78025,11 +70000,11 @@ "has_audio": false } }, - "observation.images.cam_head_right_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -78038,8 +70013,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -78048,11 +70023,11 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -78061,8 +70036,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -78071,11 +70046,11 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_front_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -78084,8 +70059,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -78097,7 +70072,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 14 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -78112,14 +70087,36 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "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": [ - 14 + 36 ], "names": [ "left_arm_joint_1_rad", @@ -78134,8 +70131,30 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "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": { @@ -78286,66 +70305,6 @@ 2 ], "dtype": "int32" - }, - "gripper_open_scale_state": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_open_scale_action": { - "names": [ - "left_gripper_open_scale", - "right_gripper_open_scale" - ], - "shape": [ - 2 - ], - "dtype": "float32" - }, - "gripper_mode_state": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_mode_action": { - "names": [ - "left_gripper_mode", - "right_gripper_mode" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_state": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" - }, - "gripper_activity_action": { - "names": [ - "left_gripper_activity", - "right_gripper_activity" - ], - "shape": [ - 2 - ], - "dtype": "int32" } }, "authors": { @@ -78367,22 +70326,22 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "RMC-AIDA-L_place_towel": { - "path": "RMC-AIDA-L_place_towel", - "dataset_name": "place_towel", + "AIRBOT_MMK2_organize_books": { + "path": "AIRBOT_MMK2_organize_books", + "dataset_name": "organize_books", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "End", + "tasks": "Static", "objects": [ { "object_name": "table", @@ -78393,27 +70352,35 @@ "level5": null }, { - "object_name": "towel", - "level1": "clothing", - "level2": "towel", + "object_name": "book", + "level1": "office_supplies", + "level2": "book", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bookshelf", + "level1": "container", + "level2": "bookshelf", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-281308", - "dataset_size": "4.8GB", + "frame_range": "0-9576", + "dataset_size": "439.6MB", "statistics": { - "total_episodes": 398, - "total_frames": 281308, - "total_tasks": 2, - "total_videos": 1194, + "total_episodes": 50, + "total_frames": 9576, + "total_tasks": 1, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "666a0109-3399-4955-b2fb-66509139637f", + "dataset_uuid": "b36aed44-2805-4713-8d48-a14bebf79671", "language": [ "en", "zh" @@ -78422,13 +70389,10 @@ "robotics" ], "sub_tasks": [ - "End", - "Spread the towel flat with the left gripper", - "Abnormal", - "Pick up a towel with the left gripper", "Static", - "Pick up a towel with the right gripper", - "Spread the towel flat with the right gripper", + "Grasp the yellow book with the right gripper", + "Place the yellow book into the front mezzanine of the bookshelf with the right gripper", + "End", "null" ], "annotations": { @@ -78466,146 +70430,520 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "RMC-AIDA-L_place_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "RMC-AIDA-L_place_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_organize_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_organize_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_storage_electronics_yellow_baket": { - "task_categories": [ - "robotics" - ], - "language": [ - "en" - ], - "tags": [ - "RoboCOIN", - "LeRobot" + "RMC-AIDA-L_fold_towel": { + "path": "RMC-AIDA-L_fold_towel", + "dataset_name": "fold_towel", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" ], - "license": "apache-2.0", - "configs": [ - { - "config_name": "default", - "data_files": "data/chunk-{id}/episode_{id}.parquet" - } + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick", + "unfold" ], - "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", - "extra_gated_fields": { - "Company/Organization": { - "type": "text", - "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" - }, - "Country": { - "type": "country", - "description": "e.g., \"Germany\", \"China\", \"United States\"" - } - }, - "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_storage_electronics_yellow_baket", - "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.", + "tasks": "End", "objects": [ { - "object_name": "paper_boxes", - "level1": "packaging", - "level2": "paper_boxes", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "baskets", - "level2": "basket", + "object_name": "towel", + "level1": "clothing", + "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": [ - "put the electronic products components into the yellow basket." - ], - "sub_tasks": [ + "operation_platform_height": 77.2, + "frame_range": "0-139069", + "dataset_size": "1.5GB", + "statistics": { + "total_episodes": 314, + "total_frames": 139069, + "total_tasks": 2, + "total_videos": 942, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "189eaf6e-2609-4e71-8e6e-e6393a5d259e", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Press and secure one corner of the towel with the right arm", + "Unfold the towel with the left arm", + "Press and secure one corner of the towel with the left arm", + "Press and secure one corner of the towel with the right gripper", + "Unfold the towel with the left gripper", + "Unfold the towel with the right arm", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_fold_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_fold_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_box_storage_chopsticks": { + "path": "Cobot_Magic_box_storage_chopsticks", + "dataset_name": "box_storage_chopsticks", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "use the right arm to put the chopsticks into the lunch box", + "objects": [ { - "subtask": "Place the calculator box into the storage box with the left gripper", + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pallet", + "level1": "container", + "level2": "pallet", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chopsticks", + "level1": "tableware", + "level2": "chopsticks", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-170337", + "dataset_size": "6.4GB", + "statistics": { + "total_episodes": 499, + "total_frames": 170337, + "total_tasks": 6, + "total_videos": 1497, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "820026e7-2878-4127-b935-c5e584a825bc", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "use the right arm to put the chopsticks into the lunch box", + "Abnormal", + "use the left arm to grab a pair of chopsticks", + "End", + "Grasp the a pair of chopsticks with the left gripper", + "Place the a pair of chopsticks in the box with the left gripper", + "use the left arm to put the chopsticks into the lunch box", + "use the right arm to grab a pair of chopsticks", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_box_storage_chopsticks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_box_storage_chopsticks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_peach_storage": { + "path": "R1_Lite_peach_storage", + "dataset_name": "peach_storage", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-31755", + "dataset_size": "1.5GB", + "statistics": { + "total_episodes": 110, + "total_frames": 31755, + "total_tasks": 1, + "total_videos": 440, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "e596c797-57d3-4fbb-ba99-5dec78a4c0b2", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Place the light basket on the middle of the table with the left gripper", + "Grasp the light basket with the left gripper", + "Static", + "Grasp the peach with the right gripper", + "Place the peach into the light basket with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_peach_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_peach_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Galaxea_R1_Lite_pour_solid_marble_bar_counter": { + "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_solid_marble_bar_counter", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "househhold", + "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": "marble_bar_counter", + "level1": "furniture", + "level2": "marble_bar_counter", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plastic_cup", + "level1": "cups", + "level2": "plastic_cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "green_dish", + "level1": "plates", + "level2": "green_dish", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pink_bowl", + "level1": "plastic_bowls", + "level2": "pink_bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "solid", + "level1": "materials", + "level2": "solid", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "use a gripper to pick up the cup and pour the solid into a bowl or tray." + ], + "sub_tasks": [ + { + "subtask": "Abnormal", "subtask_index": 0 }, { - "subtask": "Grasp the calculator box with the left gripper", + "subtask": "Grasp the glass of shrimp with the left gripper", "subtask_index": 1 }, { - "subtask": "Place the calculator box into the storage box with the right gripper", + "subtask": "Pour the shrimp beans into the green bowl with the left gripper", "subtask_index": 2 }, { - "subtask": "Place the phone case box into the storage box with the right gripper", + "subtask": "Pour the shrimp beans into the green bowl with the right gripper", "subtask_index": 3 }, { - "subtask": "Place the phone case box in the yellow box with the right gripper", + "subtask": "Grasp the glass of coffee beans with the right gripper", "subtask_index": 4 }, { - "subtask": "Place the phone case box into the storage box with the left gripper", + "subtask": "Grasp the glass of coffee beans with the left gripper", "subtask_index": 5 }, { - "subtask": "Abnormal", + "subtask": "Place the glass cup with the right gripper", "subtask_index": 6 }, { - "subtask": "Place the calculator box in the yellow box with the left gripper", + "subtask": "Pour the shrimp into the pink bowl with the left gripper", "subtask_index": 7 }, { - "subtask": "Grasp the calculator box with the right gripper", + "subtask": "End", "subtask_index": 8 }, { - "subtask": "Grasp the phone case box with the right gripper", + "subtask": "Pour the coffee beans into the green bowl with the right gripper", "subtask_index": 9 }, { - "subtask": "End", + "subtask": "Pour the coffee beans into the pink bowl with the left gripper", "subtask_index": 10 }, { - "subtask": "Grasp the phone case box with the left gripper", + "subtask": "Pour the shrimp into the pink bowl with the right gripper", "subtask_index": 11 }, { - "subtask": "null", + "subtask": "Pour the coffee beans into the pink bowl with the right gripper", "subtask_index": 12 + }, + { + "subtask": "Grasp the glass of shrimp with the right gripper", + "subtask_index": 13 + }, + { + "subtask": "Place the glass cup with the left gripper", + "subtask_index": 14 + }, + { + "subtask": "Pour the coffee beans into the green bowl with the left gripper", + "subtask_index": 15 + }, + { + "subtask": "null", + "subtask_index": 16 } ], "atomic_actions": [ "grasp", "pick", - "place" + "place", + "pour" ], "robot_name": [ - "Airbot_MMK2" + "Galaxea_R1_Lite" ], - "end_effector_type": "five_finger_gripper", + "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_rgb", + "cam_head_left_rgb", + "cam_head_right_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "cam_right_wrist_rgb" ], "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_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", @@ -78622,30 +70960,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 99, - "total_frames": 25739, + "total_episodes": 85, + "total_frames": 31250, "fps": 30, - "total_tasks": 13, - "total_videos": 396, + "total_tasks": 17, + "total_videos": 340, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, + "state_dim": 14, + "action_dim": 14, "camera_views": 4, - "dataset_size": "879.43 MB" + "dataset_size": "1.29 GB" }, - "frame_num": 25739, - "dataset_size": "879.43 MB", - "data_structure": "Airbot_MMK2_storage_electronics_yellow_baket_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (87 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 31250, + "dataset_size": "1.29 GB", + "data_structure": "Galaxea_R1_Lite_pour_solid_marble_bar_counter_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (73 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:98" + "train": "0:84" }, "features": { - "observation.images.cam_head_rgb": { + "observation.images.cam_head_left_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -78654,8 +70992,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -78664,11 +71002,11 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_head_right_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -78677,8 +71015,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -78687,10 +71025,10 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 480, + 360, 640, 3 ], @@ -78700,7 +71038,7 @@ "channels" ], "info": { - "video.height": 480, + "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -78710,10 +71048,10 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 480, + 360, 640, 3 ], @@ -78723,7 +71061,7 @@ "channels" ], "info": { - "video.height": 480, + "video.height": 360, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", @@ -78736,7 +71074,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -78751,36 +71089,14 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -78795,30 +71111,8 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "timestamp": { @@ -78969,6 +71263,66 @@ 2 ], "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" } }, "authors": { @@ -78990,22 +71344,20 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_egg_storage": { - "path": "AIRBOT_MMK2_egg_storage", - "dataset_name": "egg_storage", + "Cobot_Magic_turn_on_the_bulb": { + "path": "Cobot_Magic_turn_on_the_bulb", + "dataset_name": "turn_on_the_bulb", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "grasp", - "pick", - "place" + "press" ], - "tasks": "Grasp the egg with the left gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -79016,43 +71368,27 @@ "level5": null }, { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg", - "level1": "food", - "level2": "egg", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "egg_box", - "level1": "food", - "level2": "egg_box", + "object_name": "bulb", + "level1": "tool", + "level2": "bulb", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-13597", - "dataset_size": "525.2MB", + "frame_range": "0-2216", + "dataset_size": "52.8MB", "statistics": { - "total_episodes": 58, - "total_frames": 13597, - "total_tasks": 2, - "total_videos": 232, + "total_episodes": 11, + "total_frames": 2216, + "total_tasks": 1, + "total_videos": 33, "total_chunks": 1, "chunks_size": 1000, - "fps": 30 + "fps": 50 }, - "dataset_uuid": "63a0fe6b-923c-4ac5-9b65-501c2a9b8c99", + "dataset_uuid": "7bd56e56-b106-4062-8952-e5bffc346b4c", "language": [ "en", "zh" @@ -79061,12 +71397,8 @@ "robotics" ], "sub_tasks": [ - "Grasp the egg with the left gripper", - "Grasp the egg with the right gripper", - "Abnormal", "End", - "Place the egg into bowl with the left gripper", - "Place the egg into bowl with the right gripper", + "Turn on the switch", "null" ], "annotations": { @@ -79104,371 +71436,390 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_egg_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_egg_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_turn_on_the_bulb_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_turn_on_the_bulb_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_pick_up_and_store_items": { - "path": "R1_Lite_pick_up_and_store_items", - "dataset_name": "pick_up_and_store_items", + "R1_Lite_move_the_position_of_the_apple": { + "path": "R1_Lite_move_the_position_of_the_apple", + "dataset_name": "move_the_position_of_the_apple", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "grasp", - "pick", "place", - "pull", - "push" + "pick", + "grasp" ], - "tasks": "Place the tissue on the table", + "tasks": "End", "objects": [ { - "object_name": "drawer", - "level1": "container", - "level2": "drawer", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "tissue_paper", - "level1": "daily_necessities", - "level2": "tissue_paper", + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", "level3": null, "level4": null, "level5": null }, { - "object_name": "disposable_slippers", + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "apple", + "level1": "fruit", + "level2": "apple", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bath_ball", "level1": "daily_necessities", - "level2": "disposable_slippers", + "level2": "bath_ball", "level3": null, "level4": null, "level5": null }, { - "object_name": "tape", - "level1": "tool", - "level2": "tape", + "object_name": "bowl", + "level1": "container", + "level2": "bowl", "level3": null, "level4": null, "level5": null }, { - "object_name": "solid_beverage", - "level1": "beverage", - "level2": "solid_beverage", + "object_name": "plate", + "level1": "container", + "level2": "plate", "level3": null, "level4": null, "level5": null }, { - "object_name": "shorts", - "level1": "clothing", - "level2": "shorts", + "object_name": "can", + "level1": "container", + "level2": "can", "level3": null, "level4": null, "level5": null }, { - "object_name": "roll_paper", - "level1": "daily_necessities", - "level2": "roll_paper", + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", "level3": null, "level4": null, "level5": null }, { - "object_name": "t_shirt", - "level1": "cloth", - "level2": "t_shirt", + "object_name": "hard_cleanser", + "level1": "daily_necessities", + "level2": "hard_cleanser", "level3": null, "level4": null, "level5": null }, { - "object_name": "mineral_water", - "level1": "drink", - "level2": "mineral_water", + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-125588", - "dataset_size": "5.8GB", - "statistics": { - "total_episodes": 108, - "total_frames": 125588, - "total_tasks": 1, - "total_videos": 324, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "ce4cb36f-2a3e-45e1-80b7-e559203fb5c3", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Place the tissue on the table", - "Place the disposable slippers on the table", - "Take out the tissue from the drawer", - "Put the slippers in the drawer", - "Take out the mineral water from the drawer", - "Open the drawer with the both gripper", - "Place the roll paper on the table", - "Place the shorts on the table", - "Place the adhesive tape on the table", - "Take out the disposable slippers from the drawer", - "Place the solid drinks on the table", - "Take out the adhesive tape from the drawer", - "Put the shorts in the drawer", - "Close the drawer with the both gripper", - "End", - "Pick up the tissue on the table", - "Put the tissue in the drawer", - "Take out the shorts from the drawer", - "Pick up the T-shirt on the table", - "Take out the solid drinks from the drawer", - "Pick up the mineral water on the table", - "Put the mineral water in the drawer", - "Pick up the adhesive tape on the table", - "Take out the roll paper from the drawer", - "Close the drawer", - "Open the drawer", - "Take out the T-shirt from the drawer", - "Put the disposable slippers in the drawer", - "Put the adhesive tape in the drawer", - "Take the paper out of the drawer and put it on the table", - "Put the solid drinks in the drawer", - "Place the mineral water on the table", - "Put the T-shirt in the drawer", - "abnormal", - "Place the T-shirt on the table", - "Pick up the solid drinks on the table", - "Pick up the disposable slippers on the table", - "Pick up the shorts on the table", - "Pick up the roll paper on the table", - "Put the roll paper in the drawer", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_pick_up_and_store_items_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_pick_up_and_store_items_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "Cobot_Magic_turn_off_the_desk_lamp": { - "path": "Cobot_Magic_turn_off_the_desk_lamp", - "dataset_name": "turn_off_the_desk_lamp", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "pressbutton" - ], - "tasks": "use the left arm to press the button switch on the lamp holder", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "peeler", + "level1": "tool", + "level2": "peeler", "level3": null, "level4": null, "level5": null }, { - "object_name": "desk_lamp", - "level1": "daily_necessities", - "level2": "desk_lamp", + "object_name": "block", + "level1": "toy", + "level2": "block", "level3": null, "level4": null, "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "duck", + "level1": "toy", + "level2": "duck", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-121821", - "dataset_size": "8.4GB", - "statistics": { - "total_episodes": 398, - "total_frames": 121821, - "total_tasks": 6, - "total_videos": 1194, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "1f49016c-b7ec-43a1-aa91-d6f484617a5f", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "use the left arm to press the button switch on the lamp holder", - "use the right arm to press the button switch on the lamp holder", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "R1_Lite_dispose_of_leftover_food": { - "path": "R1_Lite_dispose_of_leftover_food", - "dataset_name": "dispose_of_leftover_food", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "flip" - ], - "tasks": "Move the bowl over the trash can", - "objects": [ + }, { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "soap", + "level1": "daily_necessities", + "level2": "soap", "level3": null, "level4": null, "level5": null }, { - "object_name": "bowl", + "object_name": "box", "level1": "container", - "level2": "bowl", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "garbage_bin", + "object_name": "basket", "level1": "container", - "level2": "garbage_bin", + "level2": "basket", "level3": null, "level4": null, "level5": null }, { - "object_name": "leftovers", - "level1": "garbage", - "level2": "leftovers", + "object_name": "cola", + "level1": "drink", + "level2": "cola", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "detergent", + "level1": "daily_necessities", + "level2": "detergent", "level3": null, "level4": null, "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-135632", - "dataset_size": "7.5GB", - "statistics": { - "total_episodes": 127, - "total_frames": 135632, - "total_tasks": 1, - "total_videos": 381, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "b7ae3dcc-5b70-445f-b473-3d83772d3b1b", + }, + { + "object_name": "egg_beater", + "level1": "electrical_appliances", + "level2": "egg_beater", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "fruit", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "marker", + "level1": "office_supplies", + "level2": "marker", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rubiks_cube", + "level1": "toy", + "level2": "rubiks_cube", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread_slice", + "level1": "food", + "level2": "bread_slice", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brush", + "level1": "daily_necessities", + "level2": "brush", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yogurt", + "level1": "drink", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "power_strip", + "level1": "electric_appliance", + "level2": "power_strip", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "drink", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soda", + "level1": "drink", + "level2": "soda", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lime", + "level1": "fruit", + "level2": "lime", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee_capsule", + "level1": "drink", + "level2": "coffee_capsule", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "dish", + "level1": "container", + "level2": "dish", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glass", + "level1": "furniture", + "level2": "glass", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "gum", + "level1": "daily_necessities", + "level2": "gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape", + "level1": "daily_necessities", + "level2": "tape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soft_cleanser", + "level1": "daily_necessities", + "level2": "soft_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chips", + "level1": "food", + "level2": "chips", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-5959", + "dataset_size": "223.0MB", + "statistics": { + "total_episodes": 35, + "total_frames": 5959, + "total_tasks": 1, + "total_videos": 140, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "9155fbd7-8bc2-44d0-a2dc-16b1fad44af0", "language": [ "en", "zh" @@ -79477,14 +71828,13 @@ "robotics" ], "sub_tasks": [ - "Move the bowl over the trash can", - "Pour the leftover food from the plate into the trash can", - "Pour the leftover food from the bowl into the trash can", - "Pick up the plate with leftover food", - "Put the bowl back to the table", - "Move the plate over the trash can", - "Pick up the bowl with leftover food", - "Put the plate back to the table", + "End", + "Place the apple on the table with left gripper", + "Grasp the apple with left gripper", + "Place the apple on the table with right gripper", + "Grasp the apple with right gripper", + "Static", + "Abnormal", "null" ], "annotations": { @@ -79522,12 +71872,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_dispose_of_leftover_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_dispose_of_leftover_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_move_the_position_of_the_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_pick_up_the_bottled_water_b": { - "path": "G1edu-u3_pick_up_the_bottled_water_b", - "dataset_name": "pick_up_the_bottled_water_b", + "G1edu-u3_pick_up_the_toy_ai": { + "path": "G1edu-u3_pick_up_the_toy_ai", + "dataset_name": "pick_up_the_toy_ai", "robot_type": "", "end_effector_type": [ "three_finger_hand" @@ -79537,7 +71887,7 @@ "grasp", "pick" ], - "tasks": "Grasp the water bottle and lift it to the center of the view with right gripper", + "tasks": "End", "objects": [ { "object_name": "table", @@ -79548,35 +71898,27 @@ "level5": null }, { - "object_name": "bottle", - "level1": "container", - "level2": "bottle", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "water", - "level1": "beverages", - "level2": "water", + "object_name": "toy", + "level1": "toy", + "level2": "toy", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-10067", - "dataset_size": "125.2MB", + "frame_range": "0-3242", + "dataset_size": "44.8MB", "statistics": { - "total_episodes": 30, - "total_frames": 10067, + "total_episodes": 10, + "total_frames": 3242, "total_tasks": 1, - "total_videos": 30, + "total_videos": 10, "total_chunks": 1, - "chunks_size": 31, + "chunks_size": 10, "fps": 30 }, - "dataset_uuid": "fed7136f-3c38-4756-81e4-f9e2dd2eaad5", + "dataset_uuid": "804260a5-c07f-432e-9080-8112b837464a", "language": [ "en", "zh" @@ -79585,10 +71927,9 @@ "robotics" ], "sub_tasks": [ - "Grasp the water bottle and lift it to the center of the view with right gripper", - "Grasp the water bottle and lift it to the center of the view with left gripper", "End", - "Abnormal", + "Grasp the toy bear and lift it to the center of the view with right gripper", + "Grasp the toy bear and lift it to the center of the view with left gripper", "null" ], "annotations": { @@ -79626,54 +71967,62 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_pick_up_the_toy_ai_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_up_the_toy_ai_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_cover_the_pot_lid": { - "path": "R1_Lite_cover_the_pot_lid", - "dataset_name": "cover_the_pot_lid", + "AIRBOT_MMK2_store_coffee_cups": { + "path": "AIRBOT_MMK2_store_coffee_cups", + "dataset_name": "store_coffee_cups", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "place", + "pick" ], - "tasks": "Pick up the steamer", + "tasks": "Grasp the cup the right gripper", "objects": [ { - "object_name": "steamer_cage", + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee_cup", "level1": "container", - "level2": "steamer_cage", + "level2": "coffee_cup", "level3": null, "level4": null, "level5": null }, { - "object_name": "steamer_lid", - "level1": "daily_necessities", - "level2": "steamer_lid", + "object_name": "basin", + "level1": "container", + "level2": "basin", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-65358", - "dataset_size": "4.1GB", + "operation_platform_height": 77.2, + "frame_range": "0-11166", + "dataset_size": "444.8MB", "statistics": { - "total_episodes": 100, - "total_frames": 65358, + "total_episodes": 50, + "total_frames": 11166, "total_tasks": 1, - "total_videos": 300, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "41489668-9cf7-44d4-ba77-a691084c63fe", + "dataset_uuid": "38759f00-3a88-419c-b74b-d8a66882a254", "language": [ "en", "zh" @@ -79682,8 +72031,11 @@ "robotics" ], "sub_tasks": [ - "Pick up the steamer", - "Put the steamer", + "Grasp the cup the right gripper", + "place the cup in the basin use the left gripper", + "End", + "Grasp the cup the left gripper", + "place the cup in the basin use the right gripper", "null" ], "annotations": { @@ -79721,15 +72073,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_cover_the_pot_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_cover_the_pot_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_store_coffee_cups_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_store_coffee_cups_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_classification_of_fruits_and_vegetables_a": { - "path": "Cobot_Magic_classification_of_fruits_and_vegetables_a", - "dataset_name": "classification_of_fruits_and_vegetables_a", + "leju_robot_hotel_services_e": { + "path": "leju_robot_hotel_services_e", + "dataset_name": "hotel_services_e", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ @@ -79737,7 +72089,7 @@ "pick", "place" ], - "tasks": "Grab a potato with your right arm and put it on the left plate", + "tasks": "Hand the room key to the person.", "objects": [ { "object_name": "table", @@ -79748,51 +72100,43 @@ "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "white_carrot", - "level1": "vegetables", - "level2": "white_carrot", + "object_name": "box", + "level1": "home_storage", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "eggplant", - "level1": "vegetables", - "level2": "eggplant", + "object_name": "card", + "level1": "nfc", + "level2": "card", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", - "level1": "container", - "level2": "plate", + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-187645", - "dataset_size": "10.4GB", + "frame_range": "0-212885", + "dataset_size": "14.2GB", "statistics": { - "total_episodes": 300, - "total_frames": 187645, - "total_tasks": 3, - "total_videos": 900, + "total_episodes": 309, + "total_frames": 212885, + "total_tasks": 1, + "total_videos": 927, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "792e3e06-8f5e-444d-9a30-740d091a9210", + "dataset_uuid": "4d57f5ee-7850-4fb4-8532-415c1821c756", "language": [ "en", "zh" @@ -79801,20 +72145,11 @@ "robotics" ], "sub_tasks": [ - "Grab a potato with your right arm and put it on the left plate", - "use the right arm to grab a chayote and put it into the left plate", - "use the left arm to grab a chayote and put it into the right plate", - "Grab a potato with your left arm and put it on the left plate", - "use the right arm to grab a chayote and put it into the right plate", - "use the left arm to grab a carrot and put it into the left plate", - "use the left arm to grab a carrot and put it into the right plate", - "use the right arm to grab a carrot and put it into the left plate", - "Grab a potato with your right arm and put it on the right plate", - "use the left arm to grab a radish and put it into the right plate", - "Grab the chayote with your right arm and put it on the left plate", - "use the right arm to grab a carrot and put it into the right plate", - "Grab a potato with your left arm and put it on the right plate", - "use the left arm to grab a chayote and put it into the left plate", + "Hand the room key to the person.", + "Place the ID card on the card reader.", + "Take the ID card from the person's hand.", + "Pick up the room key from the key card box.", + "Hand the ID card to the person.", "null" ], "annotations": { @@ -79852,23 +72187,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_hotel_services_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Split_aloha_basket_storage_egg_yolk_pastry": { - "path": "Split_aloha_basket_storage_egg_yolk_pastry", - "dataset_name": "basket_storage_egg_yolk_pastry", + "AgiBot-g1_picks_up_battery_a": { + "path": "AgiBot-g1_picks_up_battery_a", + "dataset_name": "picks_up_battery_a", "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "grasp", "place", - "pick" + "pick", + "grasp" ], - "tasks": "Grasp the basket with left gripper", + "tasks": "Place the power supply on the operating table.", "objects": [ { "object_name": "table", @@ -79879,35 +72214,35 @@ "level5": null }, { - "object_name": "egg_yolk_pastry", - "level1": "food", - "level2": "egg_yolk_pastry", + "object_name": "carton", + "level1": "container", + "level2": "carton", "level3": null, "level4": null, "level5": null }, { - "object_name": "basket", - "level1": "container", - "level2": "basket", + "object_name": "battery", + "level1": "tool", + "level2": "battery", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-254419", - "dataset_size": "6.7GB", + "operation_platform_height": null, + "frame_range": "0-214263", + "dataset_size": "119.7GB", "statistics": { - "total_episodes": 629, - "total_frames": 254419, + "total_episodes": 562, + "total_frames": 214263, "total_tasks": 1, - "total_videos": 1887, + "total_videos": 4496, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "c5e8e66a-392d-4197-8236-7a50365c0ed3", + "dataset_uuid": "3385f559-eb6d-46ff-94d3-a6b48d250220", "language": [ "en", "zh" @@ -79916,13 +72251,8 @@ "robotics" ], "sub_tasks": [ - "Grasp the basket with left gripper", - "Static", - "Grasp egg yolk pastry with right gripper", - "End", - "Abnormal", - "Place the egg yolk pastry in the basket with right gripper", - "Place the basket in the center of view with left gripper", + "Place the power supply on the operating table.", + "Grab and lift the power supply from the large box.", "null" ], "annotations": { @@ -79960,22 +72290,23 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_picks_up_battery_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_little_tray_storage_apple_b": { - "path": "G1edu-u3_little_tray_storage_apple_b", - "dataset_name": "little_tray_storage_apple_b", + "AgiBot-g1_mobile_accessory_storage_box_a": { + "path": "AgiBot-g1_mobile_accessory_storage_box_a", + "dataset_name": "mobile_accessory_storage_box_a", "robot_type": "", "end_effector_type": [ - "three_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "pick", - "place" + "grasp", + "place", + "pick" ], - "tasks": "Place the apple on the orange plate with right gripper", + "tasks": "Place the open mouse box onto the operation table.", "objects": [ { "object_name": "table", @@ -79986,35 +72317,35 @@ "level5": null }, { - "object_name": "tray", + "object_name": "box", "level1": "container", - "level2": "tray", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "apple", - "level1": "fruit", - "level2": "apple", + "object_name": "accessories", + "level1": "electronic_products", + "level2": "accessories", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-3928", - "dataset_size": "51.2MB", + "frame_range": "0-40631", + "dataset_size": "16.7GB", "statistics": { - "total_episodes": 15, - "total_frames": 3928, + "total_episodes": 81, + "total_frames": 40631, "total_tasks": 1, - "total_videos": 15, + "total_videos": 648, "total_chunks": 1, - "chunks_size": 15, + "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "eddea5f5-2b14-472e-a8a5-7cdb15b1e6b5", + "dataset_uuid": "811a660c-6371-490a-9141-3019afa0cac2", "language": [ "en", "zh" @@ -80023,9 +72354,8 @@ "robotics" ], "sub_tasks": [ - "Place the apple on the orange plate with right gripper", - "End", - "Place the apple on the orange plate with left gripper", + "Place the open mouse box onto the operation table.", + "Grab and pick up the open mouse box from the accessory packaging area.", "null" ], "annotations": { @@ -80063,23 +72393,21 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "G1edu-u3_little_tray_storage_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_little_tray_storage_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_mobile_accessory_storage_box_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_tidy_up_toiletries": { - "path": "R1_Lite_tidy_up_toiletries", - "dataset_name": "tidy_up_toiletries", - "robot_type": "", + "Cobot_Magic_pushing_magnet": { + "path": "Cobot_Magic_pushing_magnet", + "dataset_name": "pushing_magnet", + "robot_type": "", "end_effector_type": [ "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ - "grasp", - "pick", - "place" + "push" ], - "tasks": "Place the cup on the table", + "tasks": "End", "objects": [ { "object_name": "table", @@ -80090,51 +72418,27 @@ "level5": null }, { - "object_name": "toiletries", - "level1": "personal_care_products", - "level2": "toiletries", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "drawer", - "level1": "container", - "level2": "drawer", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "storage_box", - "level1": "container", - "level2": "storage_box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cup", - "level1": "container", - "level2": "cup", + "object_name": "magnet", + "level1": "tool", + "level2": "magnet", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-205789", - "dataset_size": "9.8GB", + "operation_platform_height": 77.2, + "frame_range": "0-23553", + "dataset_size": "423.5MB", "statistics": { - "total_episodes": 115, - "total_frames": 205789, + "total_episodes": 100, + "total_frames": 23553, "total_tasks": 1, - "total_videos": 345, + "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "8dfd4c19-842d-4dce-8253-ffaf5f56d7df", + "dataset_uuid": "ad07d99e-6bee-4147-b81a-8f2dfe943ed8", "language": [ "en", "zh" @@ -80143,19 +72447,8 @@ "robotics" ], "sub_tasks": [ - "Place the cup on the table", - "Place the comb on the table with the right gripper", - "Place the bathroom toiletry into the drawer", - "Pick up the cup", - "Pick up the bathroom toiletry", - "Open the drawer with the left gripper", - "Grasp the bathroom toiletry with the left gripper", - "Put toiletries in the drawer", - "Grasp the black cup with the left gripper", - "Place the cup on the storage box", - "Close the drawer", - "Open the drawer", - "Place the black cup on the drawer with the left gripper", + "End", + "Push the magnet on the right to connect the magnet on the left", "null" ], "annotations": { @@ -80193,10 +72486,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_tidy_up_toiletries_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_tidy_up_toiletries_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_pushing_magnet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_pushing_magnet_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_move_block_gold_bar_models": { + "Realman_RMC-AIDA-L_storage_peach_box": { "task_categories": [ "robotics" ], @@ -80226,11 +72519,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_move_block_gold_bar_models", + "dataset_name": "Realman_RMC-AIDA-L_storage_peach_box", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { "level1": "household", - "level2": "living_room", + "level2": "kitchen", "level3": null, "level4": null, "level5": null @@ -80238,17 +72531,25 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "eyeglass_case", - "level1": "laboratory_supplies", - "level2": "eyeglass_case", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "early_education_toys", - "level1": "toys", - "level2": "early_education_toys", + "object_name": "black_box", + "level1": "home_storage", + "level2": "black_box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", "level3": null, "level4": null, "level5": null @@ -80256,40 +72557,32 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "place the glasses case in the middle of the table with your left hand and put the toy gold bar on the glasses case with your right hand." + "the left gripper open the box, the right gripper grasp the peach on the table and place it into the box." ], "sub_tasks": [ { - "subtask": "Place the gold bar on the glasses case with the right gripper", + "subtask": "Close the box with the left gripper", "subtask_index": 0 }, { - "subtask": "Grasp the glasses case with the left gripper", + "subtask": "Open the lid with the left gripper", "subtask_index": 1 }, { - "subtask": "Abnormal", + "subtask": "End", "subtask_index": 2 }, { - "subtask": "Static", + "subtask": "Grasp the peach with the right gripper", "subtask_index": 3 }, { - "subtask": "Place the glasses case on the middle of the table with the left gripper", + "subtask": "Place the peach into the box with the right gripper", "subtask_index": 4 }, - { - "subtask": "End", - "subtask_index": 5 - }, - { - "subtask": "Grasp the gold bar the right gripper", - "subtask_index": 6 - }, { "subtask": "null", - "subtask_index": 7 + "subtask_index": 5 } ], "atomic_actions": [ @@ -80298,27 +72591,25 @@ "place" ], "robot_name": [ - "Airbot_MMK2" + "Realman_RMC-AIDA-L" ], - "end_effector_type": "five_finger_gripper", + "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ "cam_head_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "cam_right_wrist_rgb" ], "came_info": { "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -80329,23 +72620,23 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 50, - "total_frames": 10703, + "total_episodes": 118, + "total_frames": 78472, "fps": 30, - "total_tasks": 8, - "total_videos": 200, + "total_tasks": 6, + "total_videos": 354, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, - "camera_views": 4, - "dataset_size": "434.03 MB" + "state_dim": 28, + "action_dim": 28, + "camera_views": 3, + "dataset_size": "751.68 MB" }, - "frame_num": 10703, - "dataset_size": "434.03 MB", - "data_structure": "Airbot_MMK2_move_block_gold_bar_models_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "frame_num": 78472, + "dataset_size": "751.68 MB", + "data_structure": "Realman_RMC-AIDA-L_storage_peach_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| `-- ... (106 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:49" + "train": "0:117" }, "features": { "observation.images.cam_head_rgb": { @@ -80417,115 +72708,76 @@ "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 + 28 ], "names": [ - "left_arm_joint_1_rad", - "left_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" + "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": [ - 36 + 28 ], "names": [ - "left_arm_joint_1_rad", - "left_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" + "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": { @@ -80676,6 +72928,66 @@ 2 ], "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" } }, "authors": { @@ -80697,11 +73009,11 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_place_cookies_and_beer": { - "path": "AIRBOT_MMK2_place_cookies_and_beer", - "dataset_name": "place_cookies_and_beer", + "leju_robot_moving_parts_b": { + "path": "leju_robot_moving_parts_b", + "dataset_name": "moving_parts_b", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -80712,7 +73024,7 @@ "pick", "place" ], - "tasks": "Grasp the bagged cookies with the left gripper", + "tasks": "Insert the small parts into the corresponding holes on the workbench.", "objects": [ { "object_name": "table", @@ -80723,43 +73035,35 @@ "level5": null }, { - "object_name": "biscuit", - "level1": "food", - "level2": "biscuit", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lid", - "level1": "daily_necessities", - "level2": "lid", + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", "level3": null, "level4": null, "level5": null }, { - "object_name": "beer_mug", - "level1": "container", - "level2": "beer_mug", + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-10519", - "dataset_size": "515.1MB", + "operation_platform_height": null, + "frame_range": "0-708011", + "dataset_size": "43.3GB", "statistics": { - "total_episodes": 50, - "total_frames": 10519, + "total_episodes": 490, + "total_frames": 708011, "total_tasks": 1, - "total_videos": 200, + "total_videos": 1470, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "a380537f-44a3-457c-8113-67604aec65a7", + "dataset_uuid": "b23f0a82-6d8f-4f98-b818-5e10125816cc", "language": [ "en", "zh" @@ -80768,11 +73072,15 @@ "robotics" ], "sub_tasks": [ - "Grasp the bagged cookies with the left gripper", + "Insert the small parts into the corresponding holes on the workbench.", "End", - "Grasp the beer mug with the right gripper", - "Place the bagged cookies on the white basket with the left gripper", - "Place the beer mug on the white basket with the right gripper", + "Place the white part on the table with left gripper", + "Grasp the white part with left gripper", + "Move the small parts to the workbench.", + "Move to the table behind body", + "Take small components from the rack.", + "Pick up small parts from the shelf.", + "Move to the initial position of the workbench.", "null" ], "annotations": { @@ -80810,23 +73118,22 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_moving_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AgiBot-g1_storage_item_b": { - "path": "AgiBot-g1_storage_item_b", - "dataset_name": "storage_item_b", + "G1edu-u3_place_plastic_bowl_ah": { + "path": "G1edu-u3_place_plastic_bowl_ah", + "dataset_name": "place_plastic_bowl_ah", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "three_finger_hand" ], "scene_type": [], "atomic_actions": [ - "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "Place the mouse and power cord into the box.", + "tasks": "Place the plastic bowl on the table with right gripper", "objects": [ { "object_name": "table", @@ -80837,43 +73144,27 @@ "level5": null }, { - "object_name": "data_cable", - "level1": "tool", - "level2": "data_cable", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "box", + "object_name": "plastic_bowl", "level1": "container", - "level2": "box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "mouse", - "level1": "tool", - "level2": "mouse", + "level2": "plastic_bowl", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-48184", - "dataset_size": "21.3GB", + "frame_range": "0-5638", + "dataset_size": "83.7MB", "statistics": { - "total_episodes": 106, - "total_frames": 48184, + "total_episodes": 33, + "total_frames": 5638, "total_tasks": 1, - "total_videos": 848, + "total_videos": 33, "total_chunks": 1, - "chunks_size": 1000, + "chunks_size": 34, "fps": 30 }, - "dataset_uuid": "6dc0fd94-f3bf-4d74-8dca-8b8723050f7d", + "dataset_uuid": "7153928d-6c50-4662-91a7-9d48d64e1e5d", "language": [ "en", "zh" @@ -80882,8 +73173,9 @@ "robotics" ], "sub_tasks": [ - "Place the mouse and power cord into the box.", - "Simultaneously pick up the mouse and power cord from the accessory packaging area.", + "Place the plastic bowl on the table with right gripper", + "End", + "Place the plastic bowl on the table with left gripper", "null" ], "annotations": { @@ -80921,12 +73213,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AgiBot-g1_storage_item_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AgiBot-g1_storage_item_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "G1edu-u3_place_plastic_bowl_ah_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_place_plastic_bowl_ah_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "alpha_bot_2_move_the_table": { - "path": "alpha_bot_2_move_the_table", - "dataset_name": "move_the_table", + "AgiBot-g1_battery_storage_b": { + "path": "AgiBot-g1_battery_storage_b", + "dataset_name": "battery_storage_b", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -80934,10 +73226,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "pick", - "place" + "place", + "pick" ], - "tasks": "End", + "tasks": "Place the power supply on the operating table.", "objects": [ { "object_name": "table", @@ -80946,21 +73238,37 @@ "level3": null, "level4": null, "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "battery", + "level1": "electronic_products", + "level2": "battery", + "level3": null, + "level4": null, + "level5": null } ], "operation_platform_height": null, - "frame_range": "0-50897", - "dataset_size": "1.4GB", + "frame_range": "0-57968", + "dataset_size": "29.6GB", "statistics": { - "total_episodes": 72, - "total_frames": 50897, + "total_episodes": 115, + "total_frames": 57968, "total_tasks": 1, - "total_videos": 288, + "total_videos": 920, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "09e62222-abf5-4a90-a95b-91d15d99af82", + "dataset_uuid": "632c0e2b-a8bb-4e12-9635-82df87be2096", "language": [ "en", "zh" @@ -80969,9 +73277,8 @@ "robotics" ], "sub_tasks": [ - "End", - "Move the table forward with both grippers", - "Grasp the table with both grippers", + "Place the power supply on the operating table.", + "Grab and lift the power supply from the large box.", "null" ], "annotations": { @@ -81009,12 +73316,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "alpha_bot_2_move_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "alpha_bot_2_move_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_battery_storage_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Cobot_Magic_vase_storage_flower": { - "path": "Cobot_Magic_vase_storage_flower", - "dataset_name": "vase_storage_flower", + "R1_Lite_throw_out_the_trash": { + "path": "R1_Lite_throw_out_the_trash", + "dataset_name": "throw_out_the_trash", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -81025,7 +73332,113 @@ "pick", "place" ], - "tasks": "Place the pink flower in the vase with right gripper", + "tasks": "End", + "objects": [ + { + "object_name": "trash_can", + "level1": "container", + "level2": "trash_can", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "garbage_bag", + "level1": "container", + "level2": "garbage_bag", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "the_door", + "level1": "furniture", + "level2": "the_door", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-143720", + "dataset_size": "6.0GB", + "statistics": { + "total_episodes": 109, + "total_frames": 143720, + "total_tasks": 1, + "total_videos": 327, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "1aceeebe-3221-4690-8d72-ca6f9ec512eb", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Place the outer trash can on the ground", + "Put the trash bag at the door", + "Pick up the trash bag", + "abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_throw_out_the_trash_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_throw_out_the_trash_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_the_box_stores_table_tennis_balls": { + "path": "Cobot_Magic_the_box_stores_table_tennis_balls", + "dataset_name": "the_box_stores_table_tennis_balls", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "use the right arm to clamp the table tennis ball closest to it", "objects": [ { "object_name": "table", @@ -81036,43 +73449,43 @@ "level5": null }, { - "object_name": "flowers", - "level1": "botany", - "level2": "flowers", + "object_name": "box", + "level1": "container", + "level2": "box", "level3": null, "level4": null, "level5": null }, { - "object_name": "tablecloth", - "level1": "clothing", - "level2": "tablecloth", + "object_name": "table_tennis", + "level1": "toy", + "level2": "table_tennis", "level3": null, "level4": null, "level5": null }, { - "object_name": "vase", - "level1": "container", - "level2": "vase", + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-239272", - "dataset_size": "12.8GB", + "operation_platform_height": null, + "frame_range": "0-438756", + "dataset_size": "19.9GB", "statistics": { - "total_episodes": 455, - "total_frames": 239272, - "total_tasks": 6, - "total_videos": 1365, + "total_episodes": 477, + "total_frames": 438756, + "total_tasks": 5, + "total_videos": 1431, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "ba4d8977-ef3d-433d-97f5-974b820832e8", + "dataset_uuid": "4af013a1-8691-4531-a11d-4a02b8ba9fdf", "language": [ "en", "zh" @@ -81081,27 +73494,10 @@ "robotics" ], "sub_tasks": [ - "Place the pink flower in the vase with right gripper", - "Grasp the dumpling with right gripper", - "Grasp the white flower with right gripper", - "Put the flowers in the vase with both hands", - "Grasp the dumpling with left gripper", - "use the right arm to insert the flowers into the vase", - "Abnormal", - "use the right arm to grab a bunch of fresh flowers", - "End", - "Place the white flower in the vase with right gripper", - "Place the dumpling on the steamer with left gripper", - "Place the pink flower in the vase with left gripper", - "Grasp the blue flower with right gripper", - "Place the blue flower in the vase with right gripper", - "Place the dumpling on the steamer with right gripper", - "use the left arm to insert the flowers into the vase", - "use the left arm to grab a bunch of fresh flowers", - "Place the blue flower in the vase with left gripper", - "Grasp the pink flower with left gripper", - "Grasp the pink flower with right gripper", - "Grasp the blue flower with left gripper", + "use the right arm to clamp the table tennis ball closest to it", + "use the right arm to put the table tennis ball into the box", + "use the left arm to clamp the table tennis ball closest to it", + "use the left arm to put the table tennis ball into the box", "null" ], "annotations": { @@ -81139,12 +73535,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "Cobot_Magic_vase_storage_flower_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "Cobot_Magic_vase_storage_flower_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_the_box_stores_table_tennis_balls_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_drawer_storage_hair_dryer": { - "path": "R1_Lite_drawer_storage_hair_dryer", - "dataset_name": "drawer_storage_hair_dryer", + "R1_Lite_take_and_put_away_items": { + "path": "R1_Lite_take_and_put_away_items", + "dataset_name": "take_and_put_away_items", "robot_type": "", "end_effector_type": [ "two_finger_gripper" @@ -81154,11 +73550,19 @@ "grasp", "pick", "place", - "push", - "pull" + "pull", + "push" ], - "tasks": "abnormal", + "tasks": "Take the mineral water out of the drawer and put it on the table", "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, { "object_name": "drawer", "level1": "container", @@ -81168,35 +73572,51 @@ "level5": null }, { - "object_name": "hair_dryer", - "level1": "electrical_appliances", - "level2": "hair_dryer", + "object_name": "umbrella", + "level1": "daily_necessities", + "level2": "umbrella", "level3": null, "level4": null, "level5": null }, { - "object_name": "washbasin", - "level1": "furniture", - "level2": "washbasin", + "object_name": "data_cable", + "level1": "electronic_products", + "level2": "data_cable", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mineral_water", + "level1": "beverages", + "level2": "mineral_water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "storage_box", + "level1": "container", + "level2": "storage_box", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-206825", - "dataset_size": "9.4GB", + "frame_range": "0-137069", + "dataset_size": "6.9GB", "statistics": { - "total_episodes": 145, - "total_frames": 206825, + "total_episodes": 112, + "total_frames": 137069, "total_tasks": 1, - "total_videos": 435, + "total_videos": 336, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "7ec2120b-9c60-40ef-901e-6526e5f7bae8", + "dataset_uuid": "fa3f7148-5f74-444e-82a5-9f8b31a69987", "language": [ "en", "zh" @@ -81205,13 +73625,16 @@ "robotics" ], "sub_tasks": [ - "abnormal", - "Put it into the drawer", - "Take the hairdryer out", + "Take the mineral water out of the drawer and put it on the table", + "Open the drawer", + "Take the data cable out of the drawer and put it on the table", + "Take the umbrella out of the drawer and put it on the table", + "Take the storage box out of the drawer and put it on the table", + "Put the storage box in the drawer", "Close the drawer", - "Place it on the countertop", - "Pull open the drawer", - "Pick up the hairdryer", + "Put the umbrella in the drawer", + "Put the data cable in the drawer", + "Put the mineral water in the drawer", "null" ], "annotations": { @@ -81249,12 +73672,130 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_drawer_storage_hair_dryer_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_drawer_storage_hair_dryer_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_take_and_put_away_items_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_take_and_put_away_items_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "leju_robot_moving_parts_f": { - "path": "leju_robot_moving_parts_f", - "dataset_name": "moving_parts_f", + "RMC-AIDA-L_basket_storage_egg_yolk_pastry": { + "path": "RMC-AIDA-L_basket_storage_egg_yolk_pastry", + "dataset_name": "basket_storage_egg_yolk_pastry", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the basket in the center of view with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-295062", + "dataset_size": "3.5GB", + "statistics": { + "total_episodes": 727, + "total_frames": 295062, + "total_tasks": 4, + "total_videos": 2181, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "928d5a84-eae7-4fae-b272-9356c151aa6d", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the basket in the center of view with left gripper", + "Place the egg yolk pastry in the basket with right gripper", + "Move the basket to the center of view with the right gripper", + "Move the basket to the center of view with the left gripper", + "Pick up the egg yolk pastry with the right gripper", + "Place the basket in the center of view with right gripper", + "Pick up the basket with the left gripper", + "Place the basket in the center of view with the left gripper", + "Grasp egg yolk pastry with left gripper", + "Place the egg yolk pastry into the basket with the right gripper", + "Grasp the basket with right gripper", + "End", + "Grasp egg yolk pastry with right gripper", + "Place the egg yolk pastry in the basket with left gripper", + "Grasp the basket with left gripper", + "Place the egg yolk pastry into the basket with the left gripper", + "Pick up the egg yolk pastry with the left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_moving_parts_u": { + "path": "leju_robot_moving_parts_u", + "dataset_name": "moving_parts_u", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -81265,7 +73806,7 @@ "pick", "place" ], - "tasks": "Place the white part on the table with left gripper", + "tasks": "Place the black part on the table with right gripper", "objects": [ { "object_name": "table", @@ -81293,18 +73834,18 @@ } ], "operation_platform_height": null, - "frame_range": "0-716938", - "dataset_size": "44.2GB", + "frame_range": "0-149345", + "dataset_size": "10.4GB", "statistics": { - "total_episodes": 489, - "total_frames": 716938, + "total_episodes": 100, + "total_frames": 149345, "total_tasks": 1, - "total_videos": 1467, + "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "b51f42cb-0020-403b-b1c0-c4cc99f2190a", + "dataset_uuid": "5138770c-0dd3-4a50-a8a2-efa57aabc3e9", "language": [ "en", "zh" @@ -81313,19 +73854,14 @@ "robotics" ], "sub_tasks": [ - "Place the white part on the table with left gripper", - "Grasp the white part with left gripper", - "Place the gray part on the table with right gripper", + "Place the black part on the table with right gripper", + "Pick up the large material from the shelf.", + "Insert the large material into the corresponding slot on the workbench.", "End", - "Return to the initial position at the workbench.", - "Move the small component to the workbench.", - "Abnormal", - "Place the white part on the table with right gripper", - "Insert the small component into the corresponding slot on the workbench.", - "Pick up the small component from the shelf.", - "Grasp the gray part with right gripper", + "Grasp the black part with right gripper", + "Move the large material to the workbench.", + "Move to the initial position of the shelf.", "Move to the table behind body", - "Grasp the white part with right gripper", "null" ], "annotations": { @@ -81363,22 +73899,24 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_moving_parts_u_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_u_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_pick_leftover_food_ac": { - "path": "G1edu-u3_pick_leftover_food_ac", - "dataset_name": "pick_leftover_food_ac", + "RMC-AIDA-L_clean_table": { + "path": "RMC-AIDA-L_clean_table", + "dataset_name": "clean_table", "robot_type": "", "end_effector_type": [ - "three_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", - "pick" + "pick", + "place", + "wipe" ], - "tasks": "End", + "tasks": "Place the rag on the table with the right gripper", "objects": [ { "object_name": "table", @@ -81389,212 +73927,34348 @@ "level5": null }, { - "object_name": "leftover_food", - "level1": "trash", - "level2": "leftover_food", + "object_name": "cup", + "level1": "container", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "blue_rag", + "level1": "clothing", + "level2": "blue_rag", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pruple_rag", + "level1": "clothing", + "level2": "pruple_rag", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "water", + "level1": "drink", + "level2": "water", "level3": null, "level4": null, "level5": null } - ], - "operation_platform_height": null, - "frame_range": "0-4666", - "dataset_size": "63.0MB", - "statistics": { - "total_episodes": 14, - "total_frames": 4666, - "total_tasks": 1, - "total_videos": 14, - "total_chunks": 1, - "chunks_size": 14, - "fps": 30 - }, - "dataset_uuid": "31bb63f2-f1c2-48b4-bc7f-98e365933e8f", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Abnormal", - "Grasp the bagged food and lift it to the center of the view with left gripper ", - "Grasp the bagged food and lift it to the center of the view with right gripper ", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + ], + "operation_platform_height": 77.2, + "frame_range": "0-514178", + "dataset_size": "3.5GB", + "statistics": { + "total_episodes": 776, + "total_frames": 514178, + "total_tasks": 4, + "total_videos": 2328, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ed026bcf-f342-4259-9fce-12208d2ca5b3", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the rag on the table with the right gripper", + "Stand the paper cup upright with the left gripper", + "Grasp the paper cup with the left gripper", + "Grasp the paper cup with the right gripper", + "Grasp the rag with the left gripper", + "Grasp the rag with the right gripper", + "Wipe the stains off the table with the left gripper", + "Place the rag on the table with the left gripper", + "Stand the paper cup upright with the right gripper", + "end", + "Wipe the stains off the table with the right gripper", + "abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_clean_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_clean_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_hotel_services_b": { + "path": "leju_robot_hotel_services_b", + "dataset_name": "hotel_services_b", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Hand the room key to the person.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "card", + "level1": "nfc", + "level2": "card", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-209703", + "dataset_size": "14.0GB", + "statistics": { + "total_episodes": 288, + "total_frames": 209703, + "total_tasks": 1, + "total_videos": 864, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "1652000d-29c5-40d4-9d8d-3198ed81edbb", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Hand the room key to the person.", + "Place the ID card on the card reader.", + "Take the ID card from the person's hand.", + "Pick up the room key from the key card box.", + "Hand the ID card to the person.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Agilex_Cobot_Magic_storage_object_closest_apple": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_storage_object_closest_apple", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "office_workspace", + "level2": "office", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "table", + "level1": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brown_basket", + "level1": "home_storage", + "level2": "brown_basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mango", + "level1": "food", + "level2": "mango", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "apple", + "level1": "food", + "level2": "apple", + "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": "whiteboard_erasers", + "level1": "stationery", + "level2": "whiteboard_erasers", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bathing_in_flowers", + "level1": "daily_necessities", + "level2": "bathing_in_flowers", + "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 picker to grab the item closest to the apple and place it in the basket." + ], + "sub_tasks": [ + { + "subtask": "Grasp the Rubik's Cube with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the chalkboard eraser with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Place the chalkboard eraser into the basket with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the shower sphere into the basket with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Place the mango into the basket with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Place the Rubik's Cube into the basket with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "Place the shower sphere into the basket with the right gripper", + "subtask_index": 6 + }, + { + "subtask": "Grasp the mango with the right gripper", + "subtask_index": 7 + }, + { + "subtask": "Grasp the Rubik's Cube with the right gripper", + "subtask_index": 8 + }, + { + "subtask": "End", + "subtask_index": 9 + }, + { + "subtask": "Place the Rubik's Cube into the basket with the right gripper", + "subtask_index": 10 + }, + { + "subtask": "Grasp the mango with the left gripper", + "subtask_index": 11 + }, + { + "subtask": "Place the mango into the basket with the left gripper", + "subtask_index": 12 + }, + { + "subtask": "Grasp the shower sphere with the right gripper", + "subtask_index": 13 + }, + { + "subtask": "Place the chalkboard eraser into the basket with the left gripper", + "subtask_index": 14 + }, + { + "subtask": "Grasp the shower sphere with the left gripper", + "subtask_index": 15 + }, + { + "subtask": "Grasp the chalkboard eraser with the left gripper", + "subtask_index": 16 + }, + { + "subtask": "null", + "subtask_index": 17 + } + ], + "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": 49, + "total_frames": 13231, + "fps": 30, + "total_tasks": 18, + "total_videos": 147, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "189.68 MB" + }, + "frame_num": 13231, + "dataset_size": "189.68 MB", + "data_structure": "Agilex_Cobot_Magic_storage_object_closest_apple_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:48" + }, + "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.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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "Galaxea_R1_Lite_storage_object_dish": { + "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_dish", + "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": "dish", + "level1": "plates", + "level2": "dish", + "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": "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_chemical_products", + "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_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 dish." + ], + "sub_tasks": [ + { + "subtask": "Grasp the blue pot with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the back scratcher on the dish with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the plugboard with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the soft facial cleanser on the dish with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Grasp the potato chips with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Grasp the banana with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "Grasp the compasses with the right gripper", + "subtask_index": 6 + }, + { + "subtask": "Grasp the duck toy with the left gripper", + "subtask_index": 7 + }, + { + "subtask": "Place the round bread on the dish with the left gripper", + "subtask_index": 8 + }, + { + "subtask": "Grasp the blue cup with the left gripper", + "subtask_index": 9 + }, + { + "subtask": "Place the compasses on the dish with the right gripper", + "subtask_index": 10 + }, + { + "subtask": "Place the duck toy on the dish with the right gripper", + "subtask_index": 11 + }, + { + "subtask": "Place the round wooden block on the dish with the right gripper", + "subtask_index": 12 + }, + { + "subtask": "Place the green lemon on the dish with the right gripper", + "subtask_index": 13 + }, + { + "subtask": "Grasp the back scratcher with the right gripper", + "subtask_index": 14 + }, + { + "subtask": "Grasp the square chewing gum with the left gripper", + "subtask_index": 15 + }, + { + "subtask": "Grasp the chocolate cake with the right gripper", + "subtask_index": 16 + }, + { + "subtask": "Grasp the shower sphere with the left gripper", + "subtask_index": 17 + }, + { + "subtask": "Place the peach on the dish with the left gripper", + "subtask_index": 18 + }, + { + "subtask": "Grasp the plugboard with the right gripper", + "subtask_index": 19 + }, + { + "subtask": "Grasp the tin with the left gripper", + "subtask_index": 20 + }, + { + "subtask": "Grasp the brown towel with the left gripper", + "subtask_index": 21 + }, + { + "subtask": "Place the brown towel on the dish with the right gripper", + "subtask_index": 22 + }, + { + "subtask": "Grasp the hard facial cleanser with the left gripper", + "subtask_index": 23 + }, + { + "subtask": "Place the plugboard on the dish with the right gripper", + "subtask_index": 24 + }, + { + "subtask": "Grasp the peach with the right gripper", + "subtask_index": 25 + }, + { + "subtask": "Grasp the brown towel with the right gripper", + "subtask_index": 26 + }, + { + "subtask": "Place the coke on the dish with the right gripper", + "subtask_index": 27 + }, + { + "subtask": "Place the banana on the dish with the left gripper", + "subtask_index": 28 + }, + { + "subtask": "Place the peach on the dish with the right gripper", + "subtask_index": 29 + }, + { + "subtask": "Grasp the hard facial cleanser with the right gripper", + "subtask_index": 30 + }, + { + "subtask": "Place the potato chips on the dish with the right gripper", + "subtask_index": 31 + }, + { + "subtask": "Grasp the peach with the left gripper", + "subtask_index": 32 + }, + { + "subtask": "Grasp the green lemon with the right gripper", + "subtask_index": 33 + }, + { + "subtask": "Place the chocolate cake on the dish with the right gripper", + "subtask_index": 34 + }, + { + "subtask": "Place the plugboard on the dish with the left gripper", + "subtask_index": 35 + }, + { + "subtask": "Grasp the bread slice with the right gripper", + "subtask_index": 36 + }, + { + "subtask": "Place the square chewing gum on the dish with the right gripper", + "subtask_index": 37 + }, + { + "subtask": "Grasp the duck toy with the right gripper", + "subtask_index": 38 + }, + { + "subtask": "End", + "subtask_index": 39 + }, + { + "subtask": "Place the blackboard erasure on the dish with the left gripper", + "subtask_index": 40 + }, + { + "subtask": "Grasp the blackboard erasure with the left gripper", + "subtask_index": 41 + }, + { + "subtask": "Grasp the coke with the left gripper", + "subtask_index": 42 + }, + { + "subtask": "Place the tape on the dish with the right gripper", + "subtask_index": 43 + }, + { + "subtask": "Place the bread slice on the dish with the right gripper", + "subtask_index": 44 + }, + { + "subtask": "Place the shower sphere on the dish with the right gripper", + "subtask_index": 45 + }, + { + "subtask": "Grasp the round wooden block with the left gripper", + "subtask_index": 46 + }, + { + "subtask": "Grasp the compasses with the left gripper", + "subtask_index": 47 + }, + { + "subtask": "Place the banana on the dish with the right gripper", + "subtask_index": 48 + }, + { + "subtask": "Grasp the blue pot with the right gripper", + "subtask_index": 49 + }, + { + "subtask": "Grasp the round bread with the right gripper", + "subtask_index": 50 + }, + { + "subtask": "Grasp the chocolate cake with the left gripper", + "subtask_index": 51 + }, + { + "subtask": "Place the square chewing gum on the dish with the left gripper", + "subtask_index": 52 + }, + { + "subtask": "Place the blue cup on the dish with the right gripper", + "subtask_index": 53 + }, + { + "subtask": "Place the hard facial cleanser on the dish with the right gripper", + "subtask_index": 54 + }, + { + "subtask": "Place the blue cup on the dish with the left gripper", + "subtask_index": 55 + }, + { + "subtask": "Grasp the tape with the right gripper", + "subtask_index": 56 + }, + { + "subtask": "Place the duck toy on the dish with the left gripper", + "subtask_index": 57 + }, + { + "subtask": "Grasp the coke with the right gripper", + "subtask_index": 58 + }, + { + "subtask": "Place the square wooden block on the dish with the right gripper", + "subtask_index": 59 + }, + { + "subtask": "Grasp the square chewing gum with the right gripper", + "subtask_index": 60 + }, + { + "subtask": "Place the round bread on the dish with the right gripper", + "subtask_index": 61 + }, + { + "subtask": "Grasp the shower sphere with the right gripper", + "subtask_index": 62 + }, + { + "subtask": "Place the brown towel on the dish with the left gripper", + "subtask_index": 63 + }, + { + "subtask": "Place the bread slice on the dish with the left gripper", + "subtask_index": 64 + }, + { + "subtask": "Grasp the bread slice with the left gripper", + "subtask_index": 65 + }, + { + "subtask": "Grasp the yogurt with the left gripper", + "subtask_index": 66 + }, + { + "subtask": "Place the blue pot on the dish with the left gripper", + "subtask_index": 67 + }, + { + "subtask": "Grasp the blackboard erasure with the right gripper", + "subtask_index": 68 + }, + { + "subtask": "Place the coke on the dish with the left gripper", + "subtask_index": 69 + }, + { + "subtask": "Place the square wooden block on the dish with the left gripper", + "subtask_index": 70 + }, + { + "subtask": "Place the yogurt on the dish with the left gripper", + "subtask_index": 71 + }, + { + "subtask": "Place the chocolate cake on the dish with the left gripper", + "subtask_index": 72 + }, + { + "subtask": "Place the compasses on the dish with the left gripper", + "subtask_index": 73 + }, + { + "subtask": "Place the round wooden block on the dish with the left gripper", + "subtask_index": 74 + }, + { + "subtask": "Place the chocolate on the dish with the left gripper", + "subtask_index": 75 + }, + { + "subtask": "Grasp the round bread with the left gripper", + "subtask_index": 76 + }, + { + "subtask": "Grasp the chocolate with the left gripper", + "subtask_index": 77 + }, + { + "subtask": "Grasp the square wooden block with the left gripper", + "subtask_index": 78 + }, + { + "subtask": "Grasp the blue cup with the right gripper", + "subtask_index": 79 + }, + { + "subtask": "Grasp the soft facial cleanser with the right gripper", + "subtask_index": 80 + }, + { + "subtask": "Place the shower sphere on the dish with the left gripper", + "subtask_index": 81 + }, + { + "subtask": "Place the tin on the dish with the left gripper", + "subtask_index": 82 + }, + { + "subtask": "Grasp the square wooden block with the right gripper", + "subtask_index": 83 + }, + { + "subtask": "Place the hard facial cleanser on the dish with the left gripper", + "subtask_index": 84 + }, + { + "subtask": "Place the blackboard erasure on the dish with the right gripper", + "subtask_index": 85 + }, + { + "subtask": "Place the blue pot on the dish with the right gripper", + "subtask_index": 86 + }, + { + "subtask": "Grasp the round wooden block with the right gripper", + "subtask_index": 87 + }, + { + "subtask": "Grasp the banana 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": 101, + "total_frames": 26346, + "fps": 30, + "total_tasks": 90, + "total_videos": 404, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "993.15 MB" + }, + "frame_num": 26346, + "dataset_size": "993.15 MB", + "data_structure": "Galaxea_R1_Lite_storage_object_dish_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (89 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:100" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + }, + "Agilex_Cobot_Magic_close_drawer_upper": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_close_drawer_upper", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "office_workspace", + "level2": "office", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "table", + "level1": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "three_layer_transparent_drawer", + "level1": "laboratory_supplies", + "level2": "three-layer_transparent_drawer", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "close the upper drawer." + ], + "sub_tasks": [ + { + "subtask": "Use the right gripper to touch the topmost layer of the storage cabinet", + "subtask_index": 0 + }, + { + "subtask": "Push the top drawer closed", + "subtask_index": 1 + }, + { + "subtask": "Use the right gripper to contact the middle shelf of the cabinet", + "subtask_index": 2 + }, + { + "subtask": "End", + "subtask_index": 3 + }, + { + "subtask": "Push the middle drawer closed", + "subtask_index": 4 + }, + { + "subtask": "null", + "subtask_index": 5 + } + ], + "atomic_actions": [ + "grasp", + "push" + ], + "robot_name": [ + "Agilex_Cobot_Magic" + ], + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 173, + "total_frames": 49994, + "fps": 30, + "total_tasks": 6, + "total_videos": 519, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "522.40 MB" + }, + "frame_num": 49994, + "dataset_size": "522.40 MB", + "data_structure": "Agilex_Cobot_Magic_close_drawer_upper_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (161 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:172" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "Cobot_Magic_pour_water_bottle": { + "path": "Cobot_Magic_pour_water_bottle", + "dataset_name": "pour_water_bottle", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "pour", + "place" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bottle", + "level1": "container", + "level2": "bottle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "container", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "water", + "level1": "drink", + "level2": "water", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-43905", + "dataset_size": "1.1GB", + "statistics": { + "total_episodes": 92, + "total_frames": 43905, + "total_tasks": 1, + "total_videos": 276, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "e375b064-04ad-4cb8-a8d4-d0994c11fa75", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Grasp the mineral water bottle", + "Pour water into the cup", + "Anomaly", + "Abnormal", + "Pour water into the teacup", + "Place the water bottle", + "Pick up the water bottle", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_pour_water_bottle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_pour_water_bottle_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_desktop_organization": { + "path": "Cobot_Magic_desktop_organization", + "dataset_name": "desktop_organization", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Hand over the waste paper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "waste_paper", + "level1": "garbage", + "level2": "waste_paper", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "knife", + "level1": "office_supplies", + "level2": "knife", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "ruler", + "level1": "office_supplies", + "level2": "ruler", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread", + "level1": "food", + "level2": "bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "small_pieces_of_paper", + "level1": "garbage", + "level2": "small_pieces_of_paper", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee", + "level1": "drink", + "level2": "coffee", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pencil_sharpener", + "level1": "office_supplies", + "level2": "pencil_sharpener", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "grape", + "level1": "fruit", + "level2": "grape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plastic_sheet", + "level1": "garbage", + "level2": "plastic_sheet", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "teacup", + "level1": "container", + "level2": "teacup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "colored_glue", + "level1": "office_supplies", + "level2": "colored_glue", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "scissor", + "level1": "office_supplies", + "level2": "scissor", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mango", + "level1": "fruit", + "level2": "mango", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "fruit_tray", + "level1": "container", + "level2": "fruit_tray", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "paper_ball", + "level1": "garbage", + "level2": "paper_ball", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "garbage_bin", + "level1": "container", + "level2": "garbage_bin", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "water_bottle", + "level1": "container", + "level2": "water_bottle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pen_holder", + "level1": "garbage", + "level2": "spitball", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cola", + "level1": "drink", + "level2": "cola", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "drink", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-2026628", + "dataset_size": "32.3GB", + "statistics": { + "total_episodes": 1070, + "total_frames": 2026628, + "total_tasks": 6, + "total_videos": 3210, + "total_chunks": 2, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "32b7ba5a-b7c4-475c-8bcc-6b60402acd24", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Hand over the waste paper", + "Place the red pencil sharpener into the pen holder", + "place the silver glue into the pen holder", + "Place the cola can in the basket with left gripper", + "Place the waste paper in the basket with left gripper", + "Place the eraser in pen holder with left gripper", + "Grasp the waste paper with right gripper", + "Place the pear in the plate", + "Static", + "Hand over the plastic", + "Grasp the bottle with left gripper", + "pick up the ruler", + "Place the black pen in pen holder with left gripper", + "Grasp the banana with left gripper", + "Pick up the banana", + "Hand over the banana", + "Pick up the pen with right arm", + "Place the cola can in the basket with right gripper", + "Hand over the grapes", + "Place the basket on the table with right gripper", + "Pick up the red pencil sharpener", + "Stand the bottle with left gripper", + "Pick up the waste paper", + "Grasp the blue pen with left gripper", + "pick up the yellow knife", + "Place the eraser into the pen holder", + "Place the black pen in pen holder with right gripper", + "Place the gray pen in pen holder with right gripper", + "Place the gray pen in pen holder with left gripper", + "Place the milk in the basket with right gripper", + "pick up the red glue", + "Hand over the yellow glue", + "Hand over the bottle", + "Place the plastic in the basket", + "Pick up the grapes", + "pick up the pink scissors", + "pick up the silver glue", + "Abnormal", + "Place the blue pen in pen holder with right gripper", + "Place the blue pen in pen holder with left gripper", + "Place the yellow pen in pen holder with right gripper", + "Grasp the cola can with right gripper", + "Grasp the mango with left gripper", + "Grasp the black pen with left gripper", + "Grasp the blue pen with right gripper", + "Grasp the eraser with right gripper", + "Pick up the plastic", + "Place the waste paper in the basket with right gripper", + "Grasp the cola can with left gripper", + "Place the cola can on the table with left gripper", + "Pick up the eraser", + "Grasp the waste paper with left gripper", + "Grasp the yellow pen with right gripper", + "Place the pink scissors into the pen holder", + "Lift the basket with left gripper", + "Pick up the bottle with the right arm", + "Hand over the bread", + "Place the grapes in the plate", + "transfer the pen to the left arm", + "transfer the bottle to the left arm", + "Hand over the red glue", + "End", + "Hand over the yellow knife", + "Hand over the ruler", + "Place the blue scissors into the pen holder", + "Place the yellow pen in pen holder with left gripper", + "Hand over the blue knife", + "Place the pen into the pen holder", + "Pick up the pear", + "transfer the pen to the right arm", + "Place the blue knife into the pen holder", + "Place the mango in the plate with left gripper", + "pick up the yellow glue", + "Hand over the pear", + "Place the blue pencil sharpener into the pen holder", + "Grasp the black pen with right gripper", + "Hand over the pink scissors", + "Pick up the bottle with the left arm", + "Grasp the gray pen with right gripper", + "Grasp the eraser with left gripper", + "Place the eraser in pen holder with right gripper", + "Grasp the basket with left gripper", + "Pick up the pen with left arm", + "Pick up the blue pencil sharpener", + "pick up the bread", + "Hand over the pen", + "Place the milk in the basket with left gripper", + "place the red glue into the pen holder", + "Place the banana in the plate with left gripper", + "Hand the basket to the right gripper with the left gripper", + "place the bread in the plate", + "Grasp the yellow pen with left gripper", + "Hand over the blue scissors", + "place the yellow glue into the pen holder", + "pick up the blue knife", + "Place the cola can on the table with right gripper", + "Place the bottle", + "Grasp the gray pen with left gripper", + "Place the ruler into the pen holder", + "pick up the blue scissors", + "Grasp the milk with right gripper", + "Place the banana in the plate", + "Grasp the milk with left gripper", + "Place the basket on the table with left gripper", + "Hand over the silver glue", + "Place the waste paper in the basket", + "place the yellow knife into the pen holder", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", + "structure": "Cobot_Magic_desktop_organization_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" + }, + "AgiBot-g1_box_storage_a": { + "path": "AgiBot-g1_box_storage_a", + "dataset_name": "box_storage_a", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Place the mouse and the power cord paper box into the container.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-11770", + "dataset_size": "4.8GB", + "statistics": { + "total_episodes": 21, + "total_frames": 11770, + "total_tasks": 1, + "total_videos": 168, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "a1e4a24d-cfb7-4719-a86c-d455555bc395", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the mouse and the power cord paper box into the container.", + "Pick up the mouse and the power cord paper box.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_box_storage_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_box_storage_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "alpha_bot_2_press_the_button_b": { + "path": "alpha_bot_2_press_the_button_b", + "dataset_name": "press_the_button_b", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "pressbutton", + "push" + ], + "tasks": "Touch the bottle with left gripper", + "objects": [ + { + "object_name": "mineral_water", + "level1": "drinks", + "level2": "mineral_water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "button", + "level1": "toy", + "level2": "button", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-50921", + "dataset_size": "943.7MB", + "statistics": { + "total_episodes": 65, + "total_frames": 50921, + "total_tasks": 1, + "total_videos": 260, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "627d6f91-a0ba-46b7-96dd-616242c3a6af", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Touch the bottle with left gripper", + "End", + "Move the bottle away with right gripper", + "Abnormal", + "Press the button with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "alpha_bot_2_press_the_button_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "alpha_bot_2_press_the_button_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AgiBot-g1_box_storage_tool": { + "path": "AgiBot-g1_box_storage_tool", + "dataset_name": "box_storage_tool", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tool", + "level1": "tool", + "level2": "tool", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-32860", + "dataset_size": "1.2GB", + "statistics": { + "total_episodes": 99, + "total_frames": 32860, + "total_tasks": 1, + "total_videos": 297, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "4ed6d684-19e6-4881-9b9f-eabbb1a6789d", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Abnormal", + "Grasp the data cable", + "Place the data cable in the another box", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_box_storage_tool_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_box_storage_tool_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_move_the_position_of_the_duck": { + "path": "R1_Lite_move_the_position_of_the_duck", + "dataset_name": "move_the_position_of_the_duck", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Grasp the red duck with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bath_ball", + "level1": "daily_necessities", + "level2": "bath_ball", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "can", + "level1": "container", + "level2": "can", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "hard_cleanser", + "level1": "daily_necessities", + "level2": "hard_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peeler", + "level1": "tool", + "level2": "peeler", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "block", + "level1": "toy", + "level2": "block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "duck", + "level1": "toy", + "level2": "duck", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soap", + "level1": "daily_necessities", + "level2": "soap", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cola", + "level1": "drink", + "level2": "cola", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "detergent", + "level1": "daily_necessities", + "level2": "detergent", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_beater", + "level1": "electrical_appliances", + "level2": "egg_beater", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "fruit", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "marker", + "level1": "office_supplies", + "level2": "marker", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rubiks_cube", + "level1": "toy", + "level2": "rubiks_cube", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread_slice", + "level1": "food", + "level2": "bread_slice", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brush", + "level1": "daily_necessities", + "level2": "brush", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yogurt", + "level1": "drink", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "power_strip", + "level1": "electric_appliance", + "level2": "power_strip", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "drink", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soda", + "level1": "drink", + "level2": "soda", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lime", + "level1": "fruit", + "level2": "lime", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee_capsule", + "level1": "drink", + "level2": "coffee_capsule", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "dish", + "level1": "container", + "level2": "dish", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glass", + "level1": "furniture", + "level2": "glass", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "gum", + "level1": "daily_necessities", + "level2": "gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape", + "level1": "daily_necessities", + "level2": "tape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soft_cleanser", + "level1": "daily_necessities", + "level2": "soft_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chips", + "level1": "food", + "level2": "chips", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-12223", + "dataset_size": "348.2MB", + "statistics": { + "total_episodes": 40, + "total_frames": 12223, + "total_tasks": 1, + "total_videos": 160, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "da6ac6c0-2744-4f18-98b8-d87cbfcc8ce1", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the red duck with right gripper", + "Static", + "Place the red duck on the table with right gripper", + "Grasp the red duck with left gripper", + "End", + "Place the red duck on the table with left gripper", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_move_the_position_of_the_duck_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_duck_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "RMC-AIDA-L_place_test_tube": { + "path": "RMC-AIDA-L_place_test_tube", + "dataset_name": "place_test_tube", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick", + "move" + ], + "tasks": "Place the test tube on the test tube rack with the left gripper ", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "test_tube_rack", + "level1": "container", + "level2": "test_tube_rack", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "test_tube", + "level1": "container", + "level2": "test_tube", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-365863", + "dataset_size": "4.0GB", + "statistics": { + "total_episodes": 648, + "total_frames": 365863, + "total_tasks": 1, + "total_videos": 1944, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "7ed8e496-1917-4844-a0f7-98fe52c1477d", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the test tube on the test tube rack with the left gripper ", + "End", + "Pass the test tube from the left gripper to the right gripper", + "pick up the test tube with the right gripper ", + "Place the test tubes on the test tube rack with the left gripper", + "move the test tube from the right gripper to the left gripper ", + "Pick up the test tube with the right gripper", + "Grasp the arch-shaped block with the left gripper", + "Pick up the test tube with the left gripper", + "Place the test tubes on the test tube rack with the right gripper", + "Pass the test tube from the right gripper to the left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_place_test_tube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_place_test_tube_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_moving_parts_m": { + "path": "leju_robot_moving_parts_m", + "dataset_name": "moving_parts_m", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the black part on the table with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-742399", + "dataset_size": "50.9GB", + "statistics": { + "total_episodes": 490, + "total_frames": 742399, + "total_tasks": 1, + "total_videos": 1470, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "fb9bf451-cf8b-4da5-b5c1-13529609f049", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the black part on the table with right gripper", + "Pick up the large material from the shelf.", + "Insert the large material into the corresponding slot on the workbench.", + "End", + "Grasp the black part with right gripper", + "Move the large material to the workbench.", + "Move to the initial position of the shelf.", + "Move to the table behind body", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_moving_parts_m_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_m_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_stacking_blocks": { + "path": "AIRBOT_MMK2_stacking_blocks", + "dataset_name": "stacking_blocks", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the yellow cube on the orange cube with the right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "building_block", + "level1": "toy", + "level2": "building_block", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-52766", + "dataset_size": "2.2GB", + "statistics": { + "total_episodes": 213, + "total_frames": 52766, + "total_tasks": 5, + "total_videos": 852, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "cdff2820-6ed6-414f-add9-1454a57a81b2", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the yellow cube on the orange cube with the right gripper", + "Static", + "Grasp the blue rhombic cuboid block with the right gripper", + "Grasp the red cuboid block with the left gripper", + "Grasp the blue small cube with the left gripper", + "Place the red small cube on the blue small cube with the right gripper", + "Place the red cuboid block in the center of view with the left gripper", + "Grasp the big red cube with the left gripper", + "Abnormal", + "Place the orange cube on the yellow cube with the right gripper", + "Place the green small cube on the blue small cube with the right gripper", + "Grasp the green small cube with the right gripper", + "Grasp the red small cube with the right gripper", + "Grasp the blue cube with the right gripper", + "Place the blue cube on the red cube with the left gripper", + "Grasp the orange cube with the right gripper", + "Grasp the blue cube with the left gripper", + "Place the blue small cube on the small table with the left gripper", + "End", + "Place the blue rhombic cuboid block on the red cuboid block with the right gripper", + "Place the blue small cube on the yellow small cube with the left gripper", + "Place the big red cube in the center of view with the left gripper", + "Grasp the yellow cube with the right gripper", + "Place theblue cube on the big red cube with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_stacking_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_stacking_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_catch_the_water": { + "path": "R1_Lite_catch_the_water", + "dataset_name": "catch_the_water", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "open", + "close" + ], + "tasks": "Place the cup next to the water dispenser", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "water_dispenser", + "level1": "container", + "level2": "water_dispenser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "container", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-133503", + "dataset_size": "5.6GB", + "statistics": { + "total_episodes": 148, + "total_frames": 133503, + "total_tasks": 1, + "total_videos": 444, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "071ba9f6-2258-439b-82bd-6fec0968ae25", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the cup next to the water dispenser", + "abnormal", + "Pick up the cup", + "Turn off the faucet", + "Place it under the water dispenser", + "Turn on the faucet", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_catch_the_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_catch_the_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars": { + "path": "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars", + "dataset_name": "place_the_glasses_case_and_gold_bars", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the glasses case on the middle of the table with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glasses_case", + "level1": "container", + "level2": "glasses_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "gold_bar", + "level1": "metal", + "level2": "gold_bar", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-10180", + "dataset_size": "412.7MB", + "statistics": { + "total_episodes": 49, + "total_frames": 10180, + "total_tasks": 1, + "total_videos": 196, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "fc8bbdff-5847-4a9e-b1c1-634bab1b4ed7", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the glasses case on the middle of the table with the left gripper", + "End", + "Static", + "Place the gold bar on the glasses case with the right gripper", + "Grasp the glasses case with the left gripper", + "Grasp the gold bar the right gripper", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AgiBot-g1_box_storage_part_a": { + "path": "AgiBot-g1_box_storage_part_a", + "dataset_name": "box_storage_part_a", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Pick up the IO bracket from the container box.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "part", + "level1": "tool", + "level2": "part", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tray", + "level1": "container", + "level2": "tray", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-205995", + "dataset_size": "105.7GB", + "statistics": { + "total_episodes": 335, + "total_frames": 205995, + "total_tasks": 1, + "total_videos": 2680, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "24378624-9647-4aad-82ac-d822bb7bc50d", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pick up the IO bracket from the container box.", + "Place the IO bracket into the ingredient slot.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_box_storage_part_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_move_book_front": { + "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_book_front", + "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": [ + "pick up the book with your left hand and hand it to your right hand, then place it on top of another book." + ], + "sub_tasks": [ + { + "subtask": "Deliver the yellow book from left gripper to right gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the yellow book on the white book with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the yellow book with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "Static", + "subtask_index": 3 + }, + { + "subtask": "End", + "subtask_index": 4 + }, + { + "subtask": "null", + "subtask_index": 5 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 49, + "total_frames": 10519, + "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": "396.69 MB" + }, + "frame_num": 10519, + "dataset_size": "396.69 MB", + "data_structure": "Airbot_MMK2_move_book_front_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:48" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Cobot_Magic_plate_storage_bread": { + "path": "Cobot_Magic_plate_storage_bread", + "dataset_name": "plate_storage_bread", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the yellow bread", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread", + "level1": "food", + "level2": "bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-27875", + "dataset_size": "515.0MB", + "statistics": { + "total_episodes": 100, + "total_frames": 27875, + "total_tasks": 1, + "total_videos": 300, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "f4001f44-f88b-4812-a364-a7f937d58496", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the yellow bread", + "Place the bread into the yellow plate", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_plate_storage_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_plate_storage_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_box_storage_parcel_h": { + "path": "leju_robot_box_storage_parcel_h", + "dataset_name": "box_storage_parcel_h", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the package into the parcel locker.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parcel", + "level1": "container", + "level2": "parcel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "conveyor_belt", + "level1": "industrial_equipment", + "level2": "conveyor_belt", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-149279", + "dataset_size": "7.7GB", + "statistics": { + "total_episodes": 389, + "total_frames": 149279, + "total_tasks": 1, + "total_videos": 1167, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "6dd99999-811b-4ae1-aac2-7a5b81087eaa", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the package into the parcel locker.", + "Pick up the package from the inbound machine.", + "Pick up the package from the conveyor belt.", + "Place the package onto the inbound machine.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_box_storage_parcel_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_box_storage_parcel_h_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_pick_cup_a": { + "path": "G1edu-u3_pick_cup_a", + "dataset_name": "pick_cup_a", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "kitchen_supplies", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-8046", + "dataset_size": "88.4MB", + "statistics": { + "total_episodes": 24, + "total_frames": 8046, + "total_tasks": 1, + "total_videos": 24, + "total_chunks": 1, + "chunks_size": 24, + "fps": 30 + }, + "dataset_uuid": "6c4e6e81-bded-43dc-a803-02147d6eb107", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Grasp the paper cup and lift it to the center of the view with right gripper", + "Grasp the paper cup and lift it to the center of the view with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_pick_cup_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_cup_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "office & workspace", + "level2": "office", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "table", + "level1": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "deli_water-based_marker", + "level1": "stationery", + "level2": "deli_water-based_marker", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "notebook", + "level1": "stationery", + "level2": "notebook", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mouse", + "level1": "appliances", + "level2": "mouse", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mouse_pad", + "level1": "appliances", + "level2": "mouse_pad", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "green_table_cloths", + "level1": "laboratory_supplies", + "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": [ + "the left gripper organize the pen on the notebook then the right gripper organize the mouse on the mouse pad." + ], + "sub_tasks": [ + { + "subtask": "Place the mouse on the mouse pad with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the marker with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the mouse with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the mouse on the mouse pad with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Place the marker on the notebook with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Grasp the marker with the right gripper", + "subtask_index": 5 + }, + { + "subtask": "Grasp the mouse with the left gripper", + "subtask_index": 6 + }, + { + "subtask": "end", + "subtask_index": 7 + }, + { + "subtask": "Place the marker on the notebook with the left gripper", + "subtask_index": 8 + }, + { + "subtask": "null", + "subtask_index": 9 + } + ], + "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": 30, + "total_frames": 19527, + "fps": 30, + "total_tasks": 10, + "total_videos": 90, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "316.01 MB" + }, + "frame_num": 19527, + "dataset_size": "316.01 MB", + "data_structure": "Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (18 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:29" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "AgiBot-g1_box_storage_cardboard_box_b": { + "path": "AgiBot-g1_box_storage_cardboard_box_b", + "dataset_name": "box_storage_cardboard_box_b", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Place the mouse and the power cord paper box into the container.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "paper_box", + "level1": "tool", + "level2": "paper_box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "carton", + "level1": "tool", + "level2": "carton", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-115855", + "dataset_size": "56.9GB", + "statistics": { + "total_episodes": 247, + "total_frames": 115855, + "total_tasks": 1, + "total_videos": 1976, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "7e28f5b3-7a48-4d52-b01e-390390932ffd", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the mouse and the power cord paper box into the container.", + "Pick up the mouse and the power cord paper box.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_box_storage_cardboard_box_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Galaxea_R1_Lite_change_baai_into_brain": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Galaxea_R1_Lite_change_baai_into_brain", + "dataset_uuid": "75dad2ee-672e-402a-823a-198e5e42af62", + "scene_type": { + "level1": "eduction", + "level2": "school", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "buiding_blocks", + "level1": "toys", + "level2": "buiding_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": [ + "rearrange the word baai as brain." + ], + "sub_tasks": [ + { + "subtask": "Disassemble the second character A", + "subtask_index": 0 + }, + { + "subtask": "Place the character R between first character B and third character A", + "subtask_index": 1 + }, + { + "subtask": "End", + "subtask_index": 2 + }, + { + "subtask": "Place the character N after character I", + "subtask_index": 3 + }, + { + "subtask": "null", + "subtask_index": 4 + } + ], + "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": 67, + "total_frames": 83804, + "fps": 30, + "total_tasks": 5, + "total_videos": 268, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "3.61 GB" + }, + "frame_num": 83804, + "dataset_size": "3.61 GB", + "data_structure": "Galaxea_R1_Lite_change_baai_into_brain_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (55 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:66" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + }, + "R1_Lite_put_the_tableware_into_the_cupboard": { + "path": "R1_Lite_put_the_tableware_into_the_cupboard", + "dataset_name": "put_the_tableware_into_the_cupboard", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the fork in the cutlery box", + "objects": [ + { + "object_name": "cabinet", + "level1": "furniture", + "level2": "cabinet", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chopsticks", + "level1": "tableware", + "level2": "chopsticks", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "fork", + "level1": "tableware", + "level2": "fork", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-367607", + "dataset_size": "15.5GB", + "statistics": { + "total_episodes": 143, + "total_frames": 367607, + "total_tasks": 1, + "total_videos": 429, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "49bc9e7b-4491-4846-95a2-082b0e4f9178", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the fork in the cutlery box", + "Place the spoon on the plate", + "Take the bowl out of the cupboard", + "Pick up the bowl and place it in the cupboard", + "Take the chopsticks out of the cupboard", + "Pull apart the shelf", + "Pick up the chopsticks and place it in the cupboard", + "End", + "Take the plate out of the cupboard", + "Place the bowl on the shelf", + "Take the fork out of the cupboard", + "Abnormal", + "Place the plate on the table", + "Pick up the plate and place it in the cupboard", + "Place a chopstick on the table", + "Place the plate on the shelf", + "Pull apart the cupboard", + "Place the fork on the table", + "Place a pair of chopsticks in the cutlery box", + "Take the spoon out of the cupboard", + "Place the bowl on the plate", + "Place the spoon on the table", + "Place the spoon on the cutlery box", + "Open the cupboard", + "Pick up the spoon and place it in the cupboard", + "Close the cupboard", + "Pick up the fork and place it in the cupboard", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_put_the_tableware_into_the_cupboard_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_fold_the_towel": { + "path": "Cobot_Magic_fold_the_towel", + "dataset_name": "fold_the_towel", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick", + "fold" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-235124", + "dataset_size": "5.1GB", + "statistics": { + "total_episodes": 177, + "total_frames": 235124, + "total_tasks": 3, + "total_videos": 531, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "15a5b235-0337-4484-9e0f-be8def7a8879", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Fold the towel upwards with the both gripper", + "Fold the towel upwards with the right gripper", + "Tidy up the towels", + "Fold the towel from right to left with the right gripper", + "Fold the towel upwards with the left gripper", + "Fold the towel", + "abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_fold_the_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_fold_the_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_storage_cake_both_hands": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_storage_cake_both_hands", + "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": "cakes", + "level1": "bread", + "level2": "cakes", + "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 two cakes in the lid." + ], + "sub_tasks": [ + { + "subtask": "Grasp the cake with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the cake on the white basket with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the cake with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the cake on the white basket with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Static", + "subtask_index": 4 + }, + { + "subtask": "End", + "subtask_index": 5 + }, + { + "subtask": "null", + "subtask_index": 6 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 47, + "total_frames": 4445, + "fps": 30, + "total_tasks": 7, + "total_videos": 188, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "188.05 MB" + }, + "frame_num": 4445, + "dataset_size": "188.05 MB", + "data_structure": "Airbot_MMK2_storage_cake_both_hands_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (35 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:46" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "R1_Lite_move_the_position_of_the_black_marker": { + "path": "R1_Lite_move_the_position_of_the_black_marker", + "dataset_name": "move_the_position_of_the_black_marker", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Grasp the Marker pen with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bath_ball", + "level1": "daily_necessities", + "level2": "bath_ball", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "can", + "level1": "container", + "level2": "can", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "hard_cleanser", + "level1": "daily_necessities", + "level2": "hard_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peeler", + "level1": "tool", + "level2": "peeler", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "block", + "level1": "toy", + "level2": "block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "duck", + "level1": "toy", + "level2": "duck", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soap", + "level1": "daily_necessities", + "level2": "soap", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cola", + "level1": "drink", + "level2": "cola", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "detergent", + "level1": "daily_necessities", + "level2": "detergent", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_beater", + "level1": "electrical_appliances", + "level2": "egg_beater", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "fruit", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "marker", + "level1": "office_supplies", + "level2": "marker", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rubiks_cube", + "level1": "toy", + "level2": "rubiks_cube", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread_slice", + "level1": "food", + "level2": "bread_slice", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brush", + "level1": "daily_necessities", + "level2": "brush", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yogurt", + "level1": "drink", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "power_strip", + "level1": "electric_appliance", + "level2": "power_strip", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "drink", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soda", + "level1": "drink", + "level2": "soda", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lime", + "level1": "fruit", + "level2": "lime", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee_capsule", + "level1": "drink", + "level2": "coffee_capsule", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "dish", + "level1": "container", + "level2": "dish", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glass", + "level1": "furniture", + "level2": "glass", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "gum", + "level1": "daily_necessities", + "level2": "gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape", + "level1": "daily_necessities", + "level2": "tape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soft_cleanser", + "level1": "daily_necessities", + "level2": "soft_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chips", + "level1": "food", + "level2": "chips", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-15618", + "dataset_size": "536.6MB", + "statistics": { + "total_episodes": 61, + "total_frames": 15618, + "total_tasks": 1, + "total_videos": 244, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "5d591692-f2ae-4fa8-97d1-9cd1613b1b33", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the Marker pen with left gripper", + "Grasp the Marker pen with right gripper", + "Place the Marker pen on the table with right gripper", + "Static", + "End", + "Place the Marker pen on the table with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_black_marker_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_move_cup_paper_box": { + "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_cup_paper_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": "paper_boxes", + "level1": "home_storage", + "level2": "paper_boxes", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pink_plate", + "level1": "kitchen_supplies", + "level2": "pink_plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee cup", + "level1": "kitchen_supplies", + "level2": "coffee cup", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "place the paper box on the paper box with your left hand and put the coffee cup on the plate with your right hand." + ], + "sub_tasks": [ + { + "subtask": "Grasp the mouse box with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the mouse box on the calculator box with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "End", + "subtask_index": 2 + }, + { + "subtask": "Grasp the coffee cup with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Place the coffee cup on the white plate with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Place the coffee cup on the pink plate with the right gripper", + "subtask_index": 5 + }, + { + "subtask": "null", + "subtask_index": 6 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 93, + "total_frames": 25588, + "fps": 30, + "total_tasks": 7, + "total_videos": 372, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "929.19 MB" + }, + "frame_num": 25588, + "dataset_size": "929.19 MB", + "data_structure": "Airbot_MMK2_move_cup_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| `-- ... (81 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:92" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "AgiBot-g1_box_storage_cardboard_box_c": { + "path": "AgiBot-g1_box_storage_cardboard_box_c", + "dataset_name": "box_storage_cardboard_box_c", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Place the mouse and the power cord paper box into the container.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "carton", + "level1": "container", + "level2": "carton", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-230771", + "dataset_size": "109.0GB", + "statistics": { + "total_episodes": 476, + "total_frames": 230771, + "total_tasks": 1, + "total_videos": 3808, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "f5991bf3-3900-460c-adbd-56e87ac4bbc1", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the mouse and the power cord paper box into the container.", + "Pick up the mouse and the power cord paper box.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_box_storage_cardboard_box_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_movethe_position_of_the_bluetooth": { + "path": "Cobot_Magic_movethe_position_of_the_bluetooth", + "dataset_name": "movethe_position_of_the_bluetooth", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place bluetooth earbud on the right side of the table", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bluetooth_earbud", + "level1": "electronic_products", + "level2": "bluetooth_earbud", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bluetooth_earphone_case", + "level1": "electronic_products", + "level2": "bluetooth_earphone_case", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-52508", + "dataset_size": "850.5MB", + "statistics": { + "total_episodes": 198, + "total_frames": 52508, + "total_tasks": 2, + "total_videos": 594, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "dc390f5c-b242-48d0-86f0-0932b22a8f6a", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place bluetooth earbud on the right side of the table", + "Place bluetooth earphone case on the left side of the table", + "Grasp the Bluetooth earphone case", + "Grasp the Bluetooth earbud", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_movethe_position_of_the_bluetooth_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_open_laptop": { + "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_open_laptop", + "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": "laptop", + "level1": "appliances", + "level2": "laptop", + "level3": null, + "level4": null, + "level5:operation_platform_height": 77.2 + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "press the laptop with your right hand and then open it with your left hand." + ], + "sub_tasks": [ + { + "subtask": "Press the laptop with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Open the laptop with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Static", + "subtask_index": 2 + }, + { + "subtask": "Release the laptop with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "End", + "subtask_index": 4 + }, + { + "subtask": "Grasp the laptop with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "null", + "subtask_index": 6 + } + ], + "atomic_actions": [ + "grasp", + "open" + ], + "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": 11734, + "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": "432.71 MB" + }, + "frame_num": 11734, + "dataset_size": "432.71 MB", + "data_structure": "Airbot_MMK2_open_laptop_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "R1_Lite_tableware_cleaning": { + "path": "R1_Lite_tableware_cleaning", + "dataset_name": "tableware_cleaning", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chopsticks", + "level1": "tableware", + "level2": "chopsticks", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "dishwashing_liquid", + "level1": "cleaning_supplies", + "level2": "dishwashing_liquid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sponge", + "level1": "cleaning_supplies", + "level2": "sponge", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-327254", + "dataset_size": "17.6GB", + "statistics": { + "total_episodes": 102, + "total_frames": 327254, + "total_tasks": 1, + "total_videos": 306, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "1969fa83-52f1-4c9f-94c6-6f9802241318", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Rinse the chopsticks", + "Place the dish soap on the table", + "Wipe the plate", + "Rinse the plate", + "Place the chopsticks on the glass basin", + "Pick up a bowl and the sponge", + "Rinse the bowl", + "Wash the plate", + "Place the plate on the plate", + "Place the plate on the table", + "Place the spoon in the glass basin", + "Place the bowl on the table", + "Wipe the bowl", + "Squeeze it onto the sponge", + "Abnormal", + "Rinse the spoon", + "Place the bowl on the plate", + "Put down the sponge", + "Place the bowl on the bowl", + "Turn off the faucet", + "Grab the dish soap", + "Wash the bowl", + "Turn on the faucet", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_tableware_cleaning_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_tableware_cleaning_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_boxs_storage": { + "path": "AIRBOT_MMK2_boxs_storage", + "dataset_name": "boxs_storage", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the potato with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "calculator_box", + "level1": "container", + "level2": "calculator_box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "power_bank_box", + "level1": "container", + "level2": "power_bank_box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bucket", + "level1": "container", + "level2": "bucket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pomegranate", + "level1": "fruit", + "level2": "pomegranate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mango", + "level1": "fruit", + "level2": "mango", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "potato", + "level1": "vegetable", + "level2": "potato", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pumpkin", + "level1": "vegetable", + "level2": "pumpkin", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "compartment", + "level1": "container", + "level2": "compartment", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-40906", + "dataset_size": "1.2GB", + "statistics": { + "total_episodes": 138, + "total_frames": 40906, + "total_tasks": 3, + "total_videos": 552, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "fda26243-c5f4-4e3a-8a7e-84a7d7c71f3a", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the potato with the left gripper", + "Place the phone case box in the yellow box with the right gripper", + "Place the pumpkin into the right compartment of the storage box with the right gripper", + "Place the calculator box in the yellow box with the left gripper", + "Static", + "Grasp the calculator box with the left gripper", + "End", + "Grasp the mango with the right gripper", + "Grasp the pomegranate with the left gripper", + "Place the pomegranate into the left compartment of the storage box with the left gripper", + "Place the mango into the right compartment of the storage box with the right gripper", + "Grasp the phone case box with the right gripper", + "Place the potato into the left compartment of the storage box with the left gripper", + "Grasp the pumpkin with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_boxs_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_place_the_blue_and_purple_blocks": { + "path": "AIRBOT_MMK2_place_the_blue_and_purple_blocks", + "dataset_name": "place_the_blue_and_purple_blocks", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the purple cube block with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "square", + "level1": "toy", + "level2": "square", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-10277", + "dataset_size": "502.1MB", + "statistics": { + "total_episodes": 50, + "total_frames": 10277, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "515b60a8-59ef-485b-bd22-34f963fd853c", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the purple cube block with the left gripper", + "Grasp the blue cube block with the right gripper", + "Place the purple cube block on the plate with the left gripper", + "Static", + "Place the blue cube block on the purple cube block with the right gripper", + "End", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_place_the_blue_and_purple_blocks_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_move_the_position_of_the_triangle_bread": { + "path": "R1_Lite_move_the_position_of_the_triangle_bread", + "dataset_name": "move_the_position_of_the_triangle_bread", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Grasp the pizza with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "waffle", + "level1": "food", + "level2": "waffle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bath_ball", + "level1": "daily_necessities", + "level2": "bath_ball", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "can", + "level1": "container", + "level2": "can", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "hard_cleanser", + "level1": "daily_necessities", + "level2": "hard_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peeler", + "level1": "tool", + "level2": "peeler", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "block", + "level1": "toy", + "level2": "block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "duck", + "level1": "toy", + "level2": "duck", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soap", + "level1": "daily_necessities", + "level2": "soap", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cola", + "level1": "drink", + "level2": "cola", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "detergent", + "level1": "daily_necessities", + "level2": "detergent", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_beater", + "level1": "electrical_appliances", + "level2": "egg_beater", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "fruit", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "marker", + "level1": "office_supplies", + "level2": "marker", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rubiks_cube", + "level1": "toy", + "level2": "rubiks_cube", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread_slice", + "level1": "food", + "level2": "bread_slice", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brush", + "level1": "daily_necessities", + "level2": "brush", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yogurt", + "level1": "drink", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "power_strip", + "level1": "electric_appliance", + "level2": "power_strip", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "drink", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soda", + "level1": "drink", + "level2": "soda", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lime", + "level1": "fruit", + "level2": "lime", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee_capsule", + "level1": "drink", + "level2": "coffee_capsule", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "dish", + "level1": "container", + "level2": "dish", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glass", + "level1": "furniture", + "level2": "glass", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "gum", + "level1": "daily_necessities", + "level2": "gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape", + "level1": "daily_necessities", + "level2": "tape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soft_cleanser", + "level1": "daily_necessities", + "level2": "soft_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chips", + "level1": "food", + "level2": "chips", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "triangle_bread", + "level1": "food", + "level2": "triangle_bread", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-8540", + "dataset_size": "300.1MB", + "statistics": { + "total_episodes": 40, + "total_frames": 8540, + "total_tasks": 1, + "total_videos": 160, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "f60ef2d6-fc04-4276-b75e-e8b54ab7602c", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the pizza with right gripper", + "Static", + "Place the pizza on the table with right gripper", + "End", + "Grasp the pizza with left gripper", + "Place the pizza on the table with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_triangle_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_plug_the_socket": { + "path": "R1_Lite_plug_the_socket", + "dataset_name": "plug_the_socket", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Hold the socket with your right hand and unplug it with your left hand", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mosquito_repellent_liquid", + "level1": "daily_necessities", + "level2": "mosquito_repellent_liquid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plug", + "level1": "electric_appliance", + "level2": "plug", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "socket", + "level1": "electric_appliance", + "level2": "socket", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-115158", + "dataset_size": "5.1GB", + "statistics": { + "total_episodes": 96, + "total_frames": 115158, + "total_tasks": 1, + "total_videos": 288, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "a456ff6a-8652-485b-a545-1bbcee60a201", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Hold the socket with your right hand and unplug it with your left hand", + "abnormal", + "Pick up the mosquito repellent liquid", + "Place the mosquito repellent liquid on the table", + "Insert the plug into the socket", + "Hold the socket with your left hand and unplug it with your right hand", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_plug_the_socket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_plug_the_socket_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_pour_out_the_beauty_blender": { + "path": "AIRBOT_MMK2_pour_out_the_beauty_blender", + "dataset_name": "pour_out_the_beauty_blender", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Place the paper cup on the table with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "marble", + "level1": "toy", + "level2": "marble", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "container", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-17577", + "dataset_size": "652.5MB", + "statistics": { + "total_episodes": 47, + "total_frames": 17577, + "total_tasks": 1, + "total_videos": 188, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "9bd6999e-de56-4b21-b103-e3054f98d4ef", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the paper cup on the table with right gripper", + "Pour the bullets from the paper cup into the bowl with right gripper", + "Static", + "Grasp the paper cup containing bullets with right gripper", + "End", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_pour_out_the_beauty_blender_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_cut_banana": { + "path": "Cobot_Magic_cut_banana", + "dataset_name": "cut_banana", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "cut", + "place" + ], + "tasks": "Cut the banana with your left hand.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plastic_vegetable_board", + "level1": "tool", + "level2": "plastic_vegetable_board", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "knife_holder", + "level1": "furniture", + "level2": "knife_holder", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "knife", + "level1": "tool", + "level2": "knife", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "fake_banana", + "level1": "toy", + "level2": "fake_banana", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-310367", + "dataset_size": "4.2GB", + "statistics": { + "total_episodes": 583, + "total_frames": 310367, + "total_tasks": 2, + "total_videos": 1749, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "3637d17f-4a5a-4801-902f-3e5aee09f48b", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Cut the banana with your left hand.", + "Cut the banana with your right hand.", + "Hold the blade with your left hand.", + "Discard the waste.", + "Secure the blade with your left hand.", + "Place the knife on the storage rack with your right hand.", + "Grab the knife handle with your right hand.", + "end", + "Lift the knife with your right hand.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_cut_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_cut_banana_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_item_storage": { + "path": "AIRBOT_MMK2_item_storage", + "dataset_name": "item_storage", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the umbrella with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "able", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "barrel", + "level1": "container", + "level2": "barrel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "umbrella", + "level1": "daily_necessities", + "level2": "umbrella", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bottle", + "level1": "container", + "level2": "bottle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lid", + "level1": "daily_necessities", + "level2": "lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-18773", + "dataset_size": "717.3MB", + "statistics": { + "total_episodes": 72, + "total_frames": 18773, + "total_tasks": 2, + "total_videos": 288, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "cfed792e-cf1c-4d1f-b6fc-a022e9be4d5e", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the umbrella with the left gripper", + "End", + "Grasp the bowl with the right gripper", + "Grasp the bowl with the left gripper", + "Place the cup into the white basket with the right gripper", + "Static", + "Place the umbrella into the white basket with the left gripper", + "Place the bowl into the yellow basket with the left gripper", + "Place the bowl into the yellow basket with the right gripper", + "Grasp the cup with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_item_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_item_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_opening_and_closing_aalcony_sliding_doors": { + "path": "R1_Lite_opening_and_closing_aalcony_sliding_doors", + "dataset_name": "opening_and_closing_aalcony_sliding_doors", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "push", + "pull" + ], + "tasks": "Close the slid door", + "objects": [ + { + "object_name": "sliding_door", + "level1": "furniture", + "level2": "sliding_door", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-133637", + "dataset_size": "6.9GB", + "statistics": { + "total_episodes": 101, + "total_frames": 133637, + "total_tasks": 1, + "total_videos": 303, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "4d71497e-4f98-487e-8f46-e2a076016680", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Close the slid door", + "Open the slid door", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_opening_and_closing_aalcony_sliding_doors_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Agilex_Cobot_Magic_storage_orange_basket_right": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_storage_orange_basket_right", + "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": [ + "the right gripper grabs oranges and puts them into the basket." + ], + "sub_tasks": [ + { + "subtask": "Place the orange in the basket with right gripper", + "subtask_index": 0 + }, + { + "subtask": "End", + "subtask_index": 1 + }, + { + "subtask": "Abnormal", + "subtask_index": 2 + }, + { + "subtask": "Grasp the orange with right 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": 98, + "total_frames": 22531, + "fps": 30, + "total_tasks": 5, + "total_videos": 294, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "233.17 MB" + }, + "frame_num": 22531, + "dataset_size": "233.17 MB", + "data_structure": "Agilex_Cobot_Magic_storage_orange_basket_right_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (86 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:97" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "Cobot_Magic_plate_storage_apple": { + "path": "Cobot_Magic_plate_storage_apple", + "dataset_name": "plate_storage_apple", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the fruit that can keep the doctor away", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "apple", + "level1": "fruit", + "level2": "apple", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-30676", + "dataset_size": "605.5MB", + "statistics": { + "total_episodes": 103, + "total_frames": 30676, + "total_tasks": 1, + "total_videos": 309, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "4c90a2cc-aea8-4468-a7c2-b0afeae50a98", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the fruit that can keep the doctor away", + "Place the picked object into the yellow plate", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_plate_storage_apple_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_push_plunger": { + "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_plunger", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "medical_healthcare", + "level2": "hospital", + "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": "syringe", + "level1": "medical_supplies", + "level2": "syringe", + "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 syringe with your left hand, then push it back with your right hand, and finally lower it with your left hand." + ], + "sub_tasks": [ + { + "subtask": "Lift the syringe with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Push the piston with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "End", + "subtask_index": 2 + }, + { + "subtask": "Grasp the syringe with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Grasp the piston with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Place the syringe on the table with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "Abnormal", + "subtask_index": 6 + }, + { + "subtask": "null", + "subtask_index": 7 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place", + "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": 147, + "total_frames": 47091, + "fps": 30, + "total_tasks": 8, + "total_videos": 588, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "1.65 GB" + }, + "frame_num": 47091, + "dataset_size": "1.65 GB", + "data_structure": "Airbot_MMK2_push_plunger_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (135 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": "0:146" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Airbot_MMK2_storage_gold_bar_model_shark_doll": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_storage_gold_bar_model_shark_doll", + "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": "paper_boxes", + "level1": "packaging", + "level2": "paper_boxes", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "shark_doll", + "level1": "toys", + "level2": "shark_doll", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "gold_bar", + "level1": "metal_products", + "level2": "gold_bar", + "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 and the gold bar into the paper box respectively with left and right hands." + ], + "sub_tasks": [ + { + "subtask": "End", + "subtask_index": 0 + }, + { + "subtask": "Place the whale on the paper box with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Place the gold bar on the paper box with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Grasp the whale with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Grasp the gold bar 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": 44, + "total_frames": 5620, + "fps": 30, + "total_tasks": 6, + "total_videos": 176, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "240.37 MB" + }, + "frame_num": 5620, + "dataset_size": "240.37 MB", + "data_structure": "Airbot_MMK2_storage_gold_bar_model_shark_doll_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Galaxea_R1_Lite_mix_red_yellow_right": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Galaxea_R1_Lite_mix_red_yellow_right", + "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 red pigment by grippers and pour them into the beaker." + ], + "sub_tasks": [ + { + "subtask": "Place the test tube into the bowl with right gripper", + "subtask_index": 0 + }, + { + "subtask": "Pick up the test tube containing the yellow reagent with right gripper", + "subtask_index": 1 + }, + { + "subtask": "Place the test tube into the pink bowl with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Grasp the yellow reagent with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Grasp the red reagent with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Pick up the test tube containing the red reagent with right gripper", + "subtask_index": 5 + }, + { + "subtask": "Place the test tube into the bowl with the right gripper", + "subtask_index": 6 + }, + { + "subtask": "Pour the yellow reagent into the graduated cylinder with the right gripper", + "subtask_index": 7 + }, + { + "subtask": "Pour the red reagent into the graduated cylinder with right gripper", + "subtask_index": 8 + }, + { + "subtask": "End", + "subtask_index": 9 + }, + { + "subtask": "Pour the yellow reagent into the graduated cylinder with right gripper", + "subtask_index": 10 + }, + { + "subtask": "Pour the red reagent into the graduated cylinder with the right gripper", + "subtask_index": 11 + }, + { + "subtask": "end", + "subtask_index": 12 + }, + { + "subtask": "null", + "subtask_index": 13 + } + ], + "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": 99, + "total_frames": 61864, + "fps": 30, + "total_tasks": 14, + "total_videos": 396, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "1.22 GB" + }, + "frame_num": 61864, + "dataset_size": "1.22 GB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_yellow_right_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (87 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:98" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + }, + "Split_aloha_basket_storage_bread": { + "path": "Split_aloha_basket_storage_bread", + "dataset_name": "basket_storage_bread", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "abnormal", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-211779", + "dataset_size": "4.3GB", + "statistics": { + "total_episodes": 497, + "total_frames": 211779, + "total_tasks": 4, + "total_videos": 1491, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "c86fb8b5-8845-4798-9c83-f3a7aec176f7", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "abnormal", + "Pick up the bread", + "Move the basket to the center of view", + "place the bread into the basket", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_basket_storage_bread_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AgiBot-g1_storage_item_e": { + "path": "AgiBot-g1_storage_item_e", + "dataset_name": "storage_item_e", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Grab and lift both the mouse and power cord from the accessory packaging area at the same time", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "data_cable", + "level1": "tool", + "level2": "data_cable", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mouse", + "level1": "tool", + "level2": "mouse", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-212067", + "dataset_size": "92.8GB", + "statistics": { + "total_episodes": 507, + "total_frames": 212067, + "total_tasks": 1, + "total_videos": 4056, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "6d8ca1f6-f9cf-4b0c-bef5-fca799793086", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grab and lift both the mouse and power cord from the accessory packaging area at the same time", + "Place the mouse and power cord into the box", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_storage_item_e_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Galbot_g1_steamer_storage_baozi_c": { + "path": "Galbot_g1_steamer_storage_baozi_c", + "dataset_name": "steamer_storage_baozi_c", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the pot lid with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "baozi", + "level1": "food", + "level2": "baozi", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "steamer", + "level1": "cookware", + "level2": "steamer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pot_lid", + "level1": "daily_necessities", + "level2": "pot_lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-226059", + "dataset_size": "4.0GB", + "statistics": { + "total_episodes": 207, + "total_frames": 226059, + "total_tasks": 1, + "total_videos": 621, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "9e52b78e-5521-46bc-a8f7-c30253014025", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the pot lid with left gripper", + "Abnormal", + "Place the pot lid on the steamer with left gripper", + "End", + "Place the baozi on the steamer with right gripper", + "Grasp the baozi in the plate with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Galbot_g1_steamer_storage_baozi_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Galbot_g1_steamer_storage_baozi_c_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "agilex_cobot_magic_pass_object_right_to_left_khaki_tablecloth": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "agilex_cobot_magic_pass_object_right_to_left_khaki_tablecloth", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "commercial_convenience", + "level2": "supermarket", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "table", + "level1": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "ambrosial_yogurt", + "level1": "food", + "level2": "ambrosial_yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "food", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "food", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yogurt", + "level1": "food", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "grape", + "level1": "food", + "level2": "grape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "ham_sausage", + "level1": "food", + "level2": "ham_sausage", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eggplant", + "level1": "food", + "level2": "eggplant", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chewing_gum", + "level1": "food", + "level2": "chewing_gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eyeglass_case", + "level1": "laboratory_supplies", + "level2": "eyeglass_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rubik's_cube", + "level1": "toys", + "level2": "rubik's_cube", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "purple_trash_bag", + "level1": "trash", + "level2": "purple_trash_bag", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cleanser", + "level1": "daily_necessities", + "level2": "cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bathing_in_flowers", + "level1": "daily_necessities", + "level2": "bathing_in_flowers", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "whiteboard_eraser", + "level1": "stationery", + "level2": "whiteboard_eraser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "candle", + "level1": "daily_necessities", + "level2": "candle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "khaki_table_cloths", + "level1": "laboratory_supplies", + "level2": "khaki_table_cloths", + "level3": null, + "level4": null, + "level5": null + } + ], + "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": "Unlabeled", + "subtask_index": 0 + }, + { + "subtask": "null", + "subtask_index": 1 + } + ], + "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": 98, + "total_frames": 64158, + "fps": 30, + "total_tasks": 2, + "total_videos": 294, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "749.82 MB" + }, + "frame_num": 64158, + "dataset_size": "749.82 MB", + "data_structure": "Agilex_Cobot_Magic_pass_object_right_to_left_khaki_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (86 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:97" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "R1_Lite_move_the_position_of_the_orange": { + "path": "R1_Lite_move_the_position_of_the_orange", + "dataset_name": "move_the_position_of_the_orange", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bath_ball", + "level1": "daily_necessities", + "level2": "bath_ball", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "can", + "level1": "container", + "level2": "can", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "hard_cleanser", + "level1": "daily_necessities", + "level2": "hard_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peeler", + "level1": "tool", + "level2": "peeler", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "block", + "level1": "toy", + "level2": "block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "duck", + "level1": "toy", + "level2": "duck", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soap", + "level1": "daily_necessities", + "level2": "soap", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cola", + "level1": "drink", + "level2": "cola", + "level3": null, + "level4": null, + "level5": null + }, + { + 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"daily_necessities", + "level2": "soft_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chips", + "level1": "food", + "level2": "chips", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-15074", + "dataset_size": "550.2MB", + "statistics": { + "total_episodes": 42, + "total_frames": 15074, + "total_tasks": 1, + "total_videos": 168, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "5cff8c7f-bc80-41be-87f4-5cc1b132ed1c", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Place the orange on the table with right gripper", + "Grasp the orange with right gripper", + "Place the orange on the table with left gripper", + "Grasp the orange with left gripper", + "Static", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_move_the_position_of_the_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_slide_tape_onto_can": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_slide_tape_onto_can", + "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": "early_education_toys", + "level1": "toys", + "level2": "early_education_toys", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "beverages", + "level1": "beverages", + "level2": "beverages", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "pick up the rings with left and right hands respectively and place them on the beverage cans." + ], + "sub_tasks": [ + { + "subtask": "Grasp the transparent circular ring on the left with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the transparent circular ring on the left onto the fanta in the middle with left gripper", + "subtask_index": 1 + }, + { + "subtask": "Place the transparent circular ring on the right onto the fanta in the middle with right gripper", + "subtask_index": 2 + }, + { + "subtask": "Abnormal", + "subtask_index": 3 + }, + { + "subtask": "Grasp the transparent circular ring on the right with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "End", + "subtask_index": 5 + }, + { + "subtask": "null", + "subtask_index": 6 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 44, + "total_frames": 10133, + "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": "490.04 MB" + }, + "frame_num": 10133, + "dataset_size": "490.04 MB", + "data_structure": "Airbot_MMK2_slide_tape_onto_can_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "R1_Lite_move_the_position_of_the_spoon": { + "path": "R1_Lite_move_the_position_of_the_spoon", + "dataset_name": "move_the_position_of_the_spoon", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Grasp the spoon with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bath_ball", + "level1": "daily_necessities", + "level2": "bath_ball", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "can", + "level1": "container", + "level2": "can", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "hard_cleanser", + "level1": "daily_necessities", + "level2": "hard_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peeler", + "level1": "tool", + "level2": "peeler", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "block", + "level1": "toy", + "level2": "block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "duck", + "level1": "toy", + "level2": "duck", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soap", + "level1": "daily_necessities", + "level2": "soap", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cola", + "level1": "drink", + "level2": "cola", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "detergent", + "level1": "daily_necessities", + "level2": "detergent", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_beater", + "level1": "electrical_appliances", + "level2": "egg_beater", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "fruit", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "marker", + "level1": "office_supplies", + "level2": "marker", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rubiks_cube", + "level1": "toy", + "level2": "rubiks_cube", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread_slice", + "level1": "food", + "level2": "bread_slice", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brush", + "level1": "daily_necessities", + "level2": "brush", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yogurt", + "level1": "drink", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "power_strip", + "level1": "electric_appliance", + "level2": "power_strip", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "drink", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soda", + "level1": "drink", + "level2": "soda", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lime", + "level1": "fruit", + "level2": "lime", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee_capsule", + "level1": "drink", + "level2": "coffee_capsule", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "dish", + "level1": "container", + "level2": "dish", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glass", + "level1": "furniture", + "level2": "glass", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "gum", + "level1": "daily_necessities", + "level2": "gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape", + "level1": "daily_necessities", + "level2": "tape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soft_cleanser", + "level1": "daily_necessities", + "level2": "soft_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chips", + "level1": "food", + "level2": "chips", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-6550", + "dataset_size": "212.3MB", + "statistics": { + "total_episodes": 23, + "total_frames": 6550, + "total_tasks": 1, + "total_videos": 92, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ab8d31a7-973b-4328-b3dc-f79488af764f", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the spoon with right gripper", + "Grasp the spoon with left gripper", + "Place the spoon on the table with left gripper", + "Static", + "End", + "Place the spoon on the table with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_spoon_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_open_lid": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_open_lid", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "other", + "level2": "laboratory", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "open the lid of the box with both hands." + ], + "sub_tasks": [ + { + "subtask": "Open the box lid with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Touch the box lid with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Press the box with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "End", + "subtask_index": 3 + }, + { + "subtask": "Open the box lid with the left gripper", + "subtask_index": 4 + }, + { + "subtask": "Touch the box lid with the right gripper", + "subtask_index": 5 + }, + { + "subtask": "Abnormal", + "subtask_index": 6 + }, + { + "subtask": "null", + "subtask_index": 7 + } + ], + "atomic_actions": [ + "open" + ], + "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": 198, + "total_frames": 28684, + "fps": 30, + "total_tasks": 8, + "total_videos": 792, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "974.53 MB" + }, + "frame_num": 28684, + "dataset_size": "974.53 MB", + "data_structure": "Airbot_MMK2_open_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| `-- ... (186 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": "0:197" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Galaxea_R1_Lite_storage_object_blue_plate": { + "task_categories": [ + "robotics" + ], + "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_blue_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": "blue_plate", + "level1": "plates", + "level2": "blue_plate", + "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": "cookware", + "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(slim_can)", + "level1": "beverages", + "level2": "coke(slim_can)", + "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": "rulers", + "level2": "compass", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "block_pillar", + "level1": "building_blocks", + "level2": "block_pillar", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_beater", + "level1": "spoons_and_spatulas", + "level2": "egg_beater", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eraser", + "level1": "erasers", + "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_chemical_products", + "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_chemical_products", + "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 blue plate." + ], + "sub_tasks": [ + { + "subtask": "Place the shower sphere on the blue plate with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the round wooden block on the blue plate with the right 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 soft facial cleanser on the blue plate with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Place the potato chips on the blue plate with the right gripper", + "subtask_index": 5 + }, + { + "subtask": "Grasp the Itchy scratcher with the right gripper", + "subtask_index": 6 + }, + { + "subtask": "Place the duck toy on the blue plate with the right gripper", + "subtask_index": 7 + }, + { + "subtask": "Grasp the potato chips with the right gripper", + "subtask_index": 8 + }, + { + "subtask": "Place the tin on the blue plate with the left gripper", + "subtask_index": 9 + }, + { + "subtask": "Grasp the banana with the left gripper", + "subtask_index": 10 + }, + { + "subtask": "Place the chocolate cake on the blue plate with the right gripper", + "subtask_index": 11 + }, + { + "subtask": "Place the blue cup on the blue plate with the right gripper", + "subtask_index": 12 + }, + { + "subtask": "Place the blue pot on the blue plate with the left gripper", + "subtask_index": 13 + }, + { + "subtask": "Place the tape on the blue plate with the left gripper", + "subtask_index": 14 + }, + { + "subtask": "Grasp the compasses with the right gripper", + "subtask_index": 15 + }, + { + "subtask": "Grasp the duck toy with the left gripper", + "subtask_index": 16 + }, + { + "subtask": "Place the blackboard erasure on the blue plate with the right gripper", + "subtask_index": 17 + }, + { + "subtask": "Place the tin on the blue plate with the right gripper", + "subtask_index": 18 + }, + { + "subtask": "Grasp the blue cup with the left gripper", + "subtask_index": 19 + }, + { + "subtask": "Grasp the square chewing gum with the left gripper", + "subtask_index": 20 + }, + { + "subtask": "Grasp the chocolate cake with the right gripper", + "subtask_index": 21 + }, + { + "subtask": "Grasp the shower sphere with the left gripper", + "subtask_index": 22 + }, + { + "subtask": "Place the compasses on the blue plate with the right gripper", + "subtask_index": 23 + }, + { + "subtask": "Grasp the plugboard with the right gripper", + "subtask_index": 24 + }, + { + "subtask": "Grasp the yogurt with the right gripper", + "subtask_index": 25 + }, + { + "subtask": "Place the round wooden block on the blue plate with the left gripper", + "subtask_index": 26 + }, + { + "subtask": "Place the banana on the blue plate with the left gripper", + "subtask_index": 27 + }, + { + "subtask": "Grasp the tin with the left gripper", + "subtask_index": 28 + }, + { + "subtask": "Grasp the brown towel with the left gripper", + "subtask_index": 29 + }, + { + "subtask": "Grasp the hard facial cleanser with the left gripper", + "subtask_index": 30 + }, + { + "subtask": "Place the Itchy scratcher on the blue plate with the right gripper", + "subtask_index": 31 + }, + { + "subtask": "Grasp the chocolate with the right gripper", + "subtask_index": 32 + }, + { + "subtask": "Grasp the peach with the right gripper", + "subtask_index": 33 + }, + { + "subtask": "Grasp the brown towel with the right gripper", + "subtask_index": 34 + }, + { + "subtask": "Place the coke on the blue plate with the left gripper", + "subtask_index": 35 + }, + { + "subtask": "Grasp the hard facial cleanser with the right gripper", + "subtask_index": 36 + }, + { + "subtask": "Place the compasses on the blue plate with the left gripper", + "subtask_index": 37 + }, + { + "subtask": "Place the hard facial cleanser on the blue plate with the left gripper", + "subtask_index": 38 + }, + { + "subtask": "Place the yogurt on the blue plate with the right gripper", + "subtask_index": 39 + }, + { + "subtask": "Grasp the peach with the left gripper", + "subtask_index": 40 + }, + { + "subtask": "Place the square wooden block on the blue plate with the right gripper", + "subtask_index": 41 + }, + { + "subtask": "Grasp the duck toy with the right gripper", + "subtask_index": 42 + }, + { + "subtask": "End", + "subtask_index": 43 + }, + { + "subtask": "Place the duck toy on the blue plate with the left gripper", + "subtask_index": 44 + }, + { + "subtask": "Grasp the coke with the left gripper", + "subtask_index": 45 + }, + { + "subtask": "Grasp the round wooden block with the left gripper", + "subtask_index": 46 + }, + { + "subtask": "Place the round bread on the blue plate with the left gripper", + "subtask_index": 47 + }, + { + "subtask": "Place the plugboard on the blue plate with the left gripper", + "subtask_index": 48 + }, + { + "subtask": "Grasp the compasses with the left gripper", + "subtask_index": 49 + }, + { + "subtask": "Place the green lemon on the blue plate with the left gripper", + "subtask_index": 50 + }, + { + "subtask": "Place the peach on the blue plate with the right gripper", + "subtask_index": 51 + }, + { + "subtask": "Place the chocolate on the blue plate with the right gripper", + "subtask_index": 52 + }, + { + "subtask": "Grasp the blue pot with the right gripper", + "subtask_index": 53 + }, + { + "subtask": "Grasp the round bread with the right gripper", + "subtask_index": 54 + }, + { + "subtask": "Grasp the chocolate cake with the left gripper", + "subtask_index": 55 + }, + { + "subtask": "Place the hard facial cleanser on the blue plate with the right gripper", + "subtask_index": 56 + }, + { + "subtask": "Place the brown towel on the blue plate with the right gripper", + "subtask_index": 57 + }, + { + "subtask": "Grasp the tin with the right gripper", + "subtask_index": 58 + }, + { + "subtask": "Place the blue cup on the blue plate with the left gripper", + "subtask_index": 59 + }, + { + "subtask": "Grasp the tape with the right gripper", + "subtask_index": 60 + }, + { + "subtask": "Grasp the coke with the right gripper", + "subtask_index": 61 + }, + { + "subtask": "Grasp the tape with the left gripper", + "subtask_index": 62 + }, + { + "subtask": "Grasp the shower sphere with the right gripper", + "subtask_index": 63 + }, + { + "subtask": "Place the banana on the blue plate with the right gripper", + "subtask_index": 64 + }, + { + "subtask": "Place the shower sphere on the blue plate with the right gripper", + "subtask_index": 65 + }, + { + "subtask": "Grasp the blackboard erasure with the right gripper", + "subtask_index": 66 + }, + { + "subtask": "Place the square chewing gum on the blue plate with the left gripper", + "subtask_index": 67 + }, + { + "subtask": "Place the plugboard on the blue plate with the right gripper", + "subtask_index": 68 + }, + { + "subtask": "Place the round bread on the blue plate with the right gripper", + "subtask_index": 69 + }, + { + "subtask": "Place the chocolate cake on the blue plate with the left gripper", + "subtask_index": 70 + }, + { + "subtask": "Grasp the round bread with the left gripper", + "subtask_index": 71 + }, + { + "subtask": "Place the brown towel on the blue plate with the left gripper", + "subtask_index": 72 + }, + { + "subtask": "Grasp the square wooden block with the left gripper", + "subtask_index": 73 + }, + { + "subtask": "Place the coke on the blue plate with the right gripper", + "subtask_index": 74 + }, + { + "subtask": "Grasp the blue cup with the right gripper", + "subtask_index": 75 + }, + { + "subtask": "Grasp the soft facial cleanser with the right gripper", + "subtask_index": 76 + }, + { + "subtask": "Place the tape on the blue plate with the right gripper", + "subtask_index": 77 + }, + { + "subtask": "Grasp the square wooden block with the right gripper", + "subtask_index": 78 + }, + { + "subtask": "Grasp the green lemon with the left gripper", + "subtask_index": 79 + }, + { + "subtask": "Place the square wooden block on the blue plate with the left gripper", + "subtask_index": 80 + }, + { + "subtask": "Place the peach on the blue plate with the left gripper", + "subtask_index": 81 + }, + { + "subtask": "Grasp the round wooden block with the right gripper", + "subtask_index": 82 + }, + { + "subtask": "Place the blue pot on the blue plate with the right gripper", + "subtask_index": 83 + }, + { + "subtask": "Grasp the banana with the right gripper", + "subtask_index": 84 + }, + { + "subtask": "null", + "subtask_index": 85 + } + ], + "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": 19084, + "fps": 30, + "total_tasks": 86, + "total_videos": 408, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "740.73 MB" + }, + "frame_num": 19084, + "dataset_size": "740.73 MB", + "data_structure": "Galaxea_R1_Lite_storage_object_blue_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| `-- ... (90 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:101" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + }, + "leju_robot_hotel_services_ac": { + "path": "leju_robot_hotel_services_ac", + "dataset_name": "hotel_services_ac", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Pick up the key card from the card box.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "card", + "level1": "nfc", + "level2": "card", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-73697", + "dataset_size": "4.7GB", + "statistics": { + "total_episodes": 431, + "total_frames": 73697, + "total_tasks": 1, + "total_videos": 1293, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ff64c171-6616-4c0a-9876-42719e539bbf", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pick up the key card from the card box.", + "Hand the key card to the target.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_moving_parts_q": { + "path": "leju_robot_moving_parts_q", + "dataset_name": "moving_parts_q", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the black part on the table with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-756932", + "dataset_size": "51.9GB", + "statistics": { + "total_episodes": 494, + "total_frames": 756932, + "total_tasks": 1, + "total_videos": 1482, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "1632a2f6-2fac-45cf-b9d6-7088ebda0870", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the black part on the table with right gripper", + "Pick up the large material from the shelf.", + "Insert the large material into the corresponding slot on the workbench.", + "End", + "Grasp the black part with right gripper", + "Move the large material to the workbench.", + "Move to the initial position of the shelf.", + "Move to the table behind body", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_q_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_put_the_bread_aw": { + "path": "G1edu-u3_put_the_bread_aw", + "dataset_name": "put_the_bread_aw", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place" + ], + "tasks": "Place the long bread on the table with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread", + "level1": "food", + "level2": "bread", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-5153", + "dataset_size": "65.2MB", + "statistics": { + "total_episodes": 26, + "total_frames": 5153, + "total_tasks": 1, + "total_videos": 26, + "total_chunks": 1, + "chunks_size": 26, + "fps": 30 + }, + "dataset_uuid": "e6db4b80-8fbb-4767-b613-734d0e088946", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the long bread on the table with left gripper", + "End", + "Place the long bread on the table with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_put_the_bread_aw_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "agilex_cobot_magic_pass_object_left_to_right_green_tablecloth": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "agilex_cobot_magic_pass_object_left_to_right_green_tablecloth", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "commercial_convenience", + "level2": "supermarket", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "table", + "level1": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "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": "green_table_cloths", + "level1": "laboratory_supplies", + "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": [ + "use the left gripper to pick up the item and transfer it from the left gripper to the right gripper." + ], + "sub_tasks": [ + { + "subtask": "Pass the purple garbage bag to the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Pass the eggplant to the right gripper", + "subtask_index": 1 + }, + { + "subtask": "The right gripper places eggplant on the right side of the table", + "subtask_index": 2 + }, + { + "subtask": "Use the left gripper to grab the eggplant on the left side of the table", + "subtask_index": 3 + }, + { + "subtask": "End", + "subtask_index": 4 + }, + { + "subtask": "Pass the yogurt to the right gripper", + "subtask_index": 5 + }, + { + "subtask": "The right gripper places banana on the right side of the table", + "subtask_index": 6 + }, + { + "subtask": "Use the left gripper to grab the cleaning agent on the left side of the table", + "subtask_index": 7 + }, + { + "subtask": "Use the left gripper to grab the milk on the left side of the table", + "subtask_index": 8 + }, + { + "subtask": "Use the left gripper to grab the purple garbage bag on the left side of the table", + "subtask_index": 9 + }, + { + "subtask": "Use the left gripper to grab the yogurt on the left side of the table", + "subtask_index": 10 + }, + { + "subtask": "Use the left gripper to grab the eyeglass case on the left side of the table", + "subtask_index": 11 + }, + { + "subtask": "The right gripper places cleaning agent on the right side of the table", + "subtask_index": 12 + }, + { + "subtask": "Pass the cleaning agent to the right gripper", + "subtask_index": 13 + }, + { + "subtask": "Use the left gripper to grab the xx on the left side of the table", + "subtask_index": 14 + }, + { + "subtask": "The right gripper places xx on the right side of the table", + "subtask_index": 15 + }, + { + "subtask": "The right gripper places yogurt on the right side of the table", + "subtask_index": 16 + }, + { + "subtask": "The right gripper places Rubik's Cube on the right side of the table", + "subtask_index": 17 + }, + { + "subtask": "Pass the Rubik's Cube to the right gripper", + "subtask_index": 18 + }, + { + "subtask": "Pass the eyeglass case to the right gripper", + "subtask_index": 19 + }, + { + "subtask": "Pass the long bread to the right gripper", + "subtask_index": 20 + }, + { + "subtask": "The right gripper places grape on the right side of the table", + "subtask_index": 21 + }, + { + "subtask": "The right gripper places long bread on the right side of the table", + "subtask_index": 22 + }, + { + "subtask": "Use the left gripper to grab the grape on the left side of the table", + "subtask_index": 23 + }, + { + "subtask": "Use the left gripper to grab the long bread on the left side of the table", + "subtask_index": 24 + }, + { + "subtask": "The right gripper places purple garbage bag on the right side of the table", + "subtask_index": 25 + }, + { + "subtask": "Use the left gripper to grab the Rubik's Cube on the left side of the table", + "subtask_index": 26 + }, + { + "subtask": "Pass the banana to the right gripper", + "subtask_index": 27 + }, + { + "subtask": "The right gripper places milk on the right side of the table", + "subtask_index": 28 + }, + { + "subtask": "Pass the milk to the right gripper", + "subtask_index": 29 + }, + { + "subtask": "The right gripper places eyeglass case on the right side of the table", + "subtask_index": 30 + }, + { + "subtask": "Pass the grape to the right gripper", + "subtask_index": 31 + }, + { + "subtask": "Use the left gripper to grab the banana on the left side of the table", + "subtask_index": 32 + }, + { + "subtask": "Pass the xx to the right gripper", + "subtask_index": 33 + }, + { + "subtask": "null", + "subtask_index": 34 + } + ], + "atomic_actions": [ + "grasp", + "lift", + "lower", + "handover", + "takeover" + ], + "robot_name": [ + "agilex_cobot_magic" + ], + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 96, + "total_frames": 64995, + "fps": 30, + "total_tasks": 35, + "total_videos": 288, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "795.75 MB" + }, + "frame_num": 64995, + "dataset_size": "795.75 MB", + "data_structure": "Agilex_Cobot_Magic_pass_object_left_to_right_green_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (84 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:95" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "Cobot_Magic_fold_towel_a": { + "path": "Cobot_Magic_fold_towel_a", + "dataset_name": "fold_towel_a", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "fold" + ], + "tasks": "pick up the towel with two arm", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-50478", + "dataset_size": "1.7GB", + "statistics": { + "total_episodes": 96, + "total_frames": 50478, + "total_tasks": 1, + "total_videos": 288, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "2d50475c-06c8-47bd-a56f-c0d235e1835a", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "pick up the towel with two arm", + "Fold the towel twice on the table", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_fold_towel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_storage_bowl_wet_wipes": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_storage_bowl_wet_wipes", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "commercial_convenience", + "level2": "supermarket", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "table", + "level1": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plastic_bowls", + "level1": "kitchen_supplies", + "level2": "plastic_bowls", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rectangular_plate", + "level1": "kitchen_supplies", + "level2": "rectangular_plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "wet_tissue_paper", + "level1": "kitchen_supplies", + "level2": "wet_tissue_paper", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "put the bowl and wet wipes on the plate." + ], + "sub_tasks": [ + { + "subtask": "Place the wet wipes into the bowl with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the bowl on the plate with the right gripper", + "subtask_index": 1 + }, + { + "subtask": "Static", + "subtask_index": 2 + }, + { + "subtask": "Grasp the wet wipes with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "End", + "subtask_index": 4 + }, + { + "subtask": "Grasp the bowl with the right gripper", + "subtask_index": 5 + }, + { + "subtask": "null", + "subtask_index": 6 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 50, + "total_frames": 13058, + "fps": 30, + "total_tasks": 7, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "425.41 MB" + }, + "frame_num": 13058, + "dataset_size": "425.41 MB", + "data_structure": "Airbot_MMK2_storage_bowl_wet_wipes_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_front_rgb\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "AIRBOT_MMK2_storage_box_for_mouse_and_sponge": { + "path": "AIRBOT_MMK2_storage_box_for_mouse_and_sponge", + "dataset_name": "storage_box_for_mouse_and_sponge", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the sponge with the right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mouse_box", + "level1": "container", + "level2": "mouse_box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sponge", + "level1": "daily_necessities", + "level2": "sponge", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "round_plate", + "level1": "container", + "level2": "round_plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-9471", + "dataset_size": "299.3MB", + "statistics": { + "total_episodes": 49, + "total_frames": 9471, + "total_tasks": 1, + "total_videos": 196, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "2c6237a9-4c9b-45ce-bd08-c48c42462c93", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the sponge with the right gripper", + "Static", + "Place the box on the white plate with the left gripper", + "End", + "Abnormal", + "Place the sponge on the white plate with the right gripper", + "Grasp the box with the left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_storage_box_for_mouse_and_sponge_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_storage_cup": { + "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", + "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": "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": [ + "put the two cups in the basin." + ], + "sub_tasks": [ + { + "subtask": "place the cup in the yellow basket use the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the cup the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Lift the cup the right gripper", + "subtask_index": 2 + }, + { + "subtask": "place the cup in the basin use the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Grasp the cup the right gripper", + "subtask_index": 4 + }, + { + "subtask": "place the cup in the yellow basket use the left gripper", + "subtask_index": 5 + }, + { + "subtask": "place the cup in the basin use the right gripper", + "subtask_index": 6 + }, + { + "subtask": "Static", + "subtask_index": 7 + }, + { + "subtask": "Lift the cup the left gripper", + "subtask_index": 8 + }, + { + "subtask": "End", + "subtask_index": 9 + }, + { + "subtask": "null", + "subtask_index": 10 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 99, + "total_frames": 20190, + "fps": 30, + "total_tasks": 11, + "total_videos": 396, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "802.42 MB" + }, + "frame_num": 20190, + "dataset_size": "802.42 MB", + "data_structure": "Airbot_MMK2_storage_cup_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (87 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:98" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Cobot_Magic_take_the_shoes_off_the_shelf": { + "path": "Cobot_Magic_take_the_shoes_off_the_shelf", + "dataset_name": "take_the_shoes_off_the_shelf", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "use the right arm to clamp a shoe in the middle of the shoe rack", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "shoes", + "level1": "clothing", + "level2": "shoes", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "shoe_rack", + "level1": "furniture", + "level2": "shoe_rack", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-321834", + "dataset_size": "18.2GB", + "statistics": { + "total_episodes": 595, + "total_frames": 321834, + "total_tasks": 6, + "total_videos": 1785, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ed522b9e-68ff-49a2-b61d-a81ed07e5aa2", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "use the right arm to clamp a shoe in the middle of the shoe rack", + "use the right arm to take out the clamped shoe from the shoe rack and put it down", + "use the left arm to clamp a shoe in the middle of the shoe rack", + "use the left arm to clamp a shoe on the left side of the shoe rack", + "Use your left arm to remove the clamped shoe from the shoe rack and put it down", + "use the right arm to clamp a shoe on the right side of the shoe rack", + "use the right arm to clamp a shoe on the left side of the shoe rack", + "Hold the shoe in the middle of the shoe rack with your right arm", + "use the left arm to clamp a shoe on the right side of the shoe rack", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_take_the_shoes_off_the_shelf_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "RMC-AIDA-L_storage_bin_storage": { + "path": "RMC-AIDA-L_storage_bin_storage", + "dataset_name": "storage_bin_storage", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the orange block in the storage box with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "teacup", + "level1": "container", + "level2": "teacup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "block", + "level1": "toy", + "level2": "block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "storage_bin", + "level1": "container", + "level2": "storage_bin", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-914776", + "dataset_size": "15.7GB", + "statistics": { + "total_episodes": 302, + "total_frames": 914776, + "total_tasks": 1, + "total_videos": 906, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "257289bb-b38e-411f-a2d0-d787e9f12419", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the orange block in the storage box with left gripper", + "Place the white block in the storage box with left gripper", + "Place the red block in the storage box with left gripper", + "Grasp the green block with left gripper", + "Grasp the dark blue block with right gripper", + "Grasp the orange block with left gripper", + "Place the white block in the storage box with right gripper", + "Place the green block and red block in the storage box with left gripper", + "Grasp the cup with left gripper", + "Place the dark blue block in the storage box with left gripper", + "Grasp the orange block and white block with left gripper", + "Grasp the light blue block with right gripper", + "Place the green block in the storage box with right gripper", + "Place the light blue block in the storage box with left gripper", + "Grasp the red block with left gripper", + "Grasp the white block with right gripper", + "Place the orange block in the storage box with right gripper", + "Grasp the green block and red block with left gripper", + "Place the green block in the storage box with left gripper", + "Grasp the cup with right gripper", + "Abnormal", + "Place the red block in the storage box with right gripper", + "Place the cup in the storage box with left gripper", + "Grasp the light blue block with left gripper", + "Place the light blue block in the storage box with right gripper", + "End", + "Place the dark blue block in the storage box with right gripper", + "Place the cup in the storage box with right gripper", + "Place the orange block and white block in the storage box with left gripper", + "Grasp the green block with right gripper", + "Grasp the white block with left gripper", + "Grasp the red block with right gripper", + "Static", + "Grasp the orange block with right gripper", + "Grasp the dark blue block with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_storage_bin_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_storage_bin_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_wipe_the_table": { + "path": "R1_Lite_wipe_the_table", + "dataset_name": "wipe_the_table", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Pick up the tablecloth", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "stains", + "level1": "rubbish", + "level2": "stains", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-67215", + "dataset_size": "2.4GB", + "statistics": { + "total_episodes": 107, + "total_frames": 67215, + "total_tasks": 1, + "total_videos": 321, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "b7447b1b-1e24-4b6f-9835-82048a217823", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pick up the tablecloth", + "Place the tablecloth", + "Place the bottle at the back of the table", + "Pick up the bottle", + "Sweep the stains on the table", + "Hand it to the other hand", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_wipe_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Agilex_Cobot_Magic_storage_object_closest": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_storage_object_closest", + "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": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brown_basket", + "level1": "container", + "level2": "brown_basket", + "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": "toothpaste", + "level1": "daily_necessities", + "level2": "toothpaste", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cleanser", + "level1": "daily_necessities", + "level2": "cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "blue_moon_laundry_detergent", + "level1": "daily_necessities", + "level2": "blue_moon_laundry_detergent", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "shampoo", + "level1": "daily_necessities", + "level2": "shampoo", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "Place the object closest to the toothpaste in the basket." + ], + "sub_tasks": [ + { + "subtask": "Grasp the shampoo with left gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the soft facial cleanser with right gripper", + "subtask_index": 1 + }, + { + "subtask": "Place the pink laundry detergent in the basket with right gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the cleaning agent in the basket with left gripper", + "subtask_index": 3 + }, + { + "subtask": "Place the shampoo in the basket with right gripper", + "subtask_index": 4 + }, + { + "subtask": "Grasp the shampoo with right gripper", + "subtask_index": 5 + }, + { + "subtask": "Place the pink laundry detergent in the basket with left gripper", + "subtask_index": 6 + }, + { + "subtask": "Place the soft facial cleanser in the basket with right gripper", + "subtask_index": 7 + }, + { + "subtask": "Grasp the pink laundry detergent with right gripper", + "subtask_index": 8 + }, + { + "subtask": "Grasp the soft facial cleanser with left gripper", + "subtask_index": 9 + }, + { + "subtask": "Place the cleaning agent in the basket with right gripper", + "subtask_index": 10 + }, + { + "subtask": "Place the soft facial cleanser in the basket with left gripper", + "subtask_index": 11 + }, + { + "subtask": "Grasp the pink laundry detergent with left gripper", + "subtask_index": 12 + }, + { + "subtask": "Place the shampoo in the basket with left gripper", + "subtask_index": 13 + }, + { + "subtask": "End", + "subtask_index": 14 + }, + { + "subtask": "Grasp the cleaning agent with right gripper", + "subtask_index": 15 + }, + { + "subtask": "Grasp the cleaning agent with left gripper", + "subtask_index": 16 + }, + { + "subtask": "null", + "subtask_index": 17 + } + ], + "atomic_actions": [ + "grasp", + "lift", + "lower" + ], + "robot_name": [ + "Agilex_Cobot_Magic" + ], + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 100, + "total_frames": 29779, + "fps": 30, + "total_tasks": 18, + "total_videos": 300, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "506.53 MB" + }, + "frame_num": 29779, + "dataset_size": "506.53 MB", + "data_structure": "Agilex_Cobot_Magic_storage_object_closest_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:99" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 26 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "dtype": "int32", + "shape": [ + 5 + ] + }, + "scene_annotation": { + "names": null, + "dtype": "int32", + "shape": [ + 1 + ] + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "dtype": "float32", + "shape": [ + 12 + ] + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "dtype": "float32", + "shape": [ + 12 + ] + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "AIRBOT_MMK2_take_down_umbrella_and_mineral_water": { + "path": "AIRBOT_MMK2_take_down_umbrella_and_mineral_water", + "dataset_name": "take_down_umbrella_and_mineral_water", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Place the cake on the table with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "umbrella", + "level1": "tool", + "level2": "umbrella", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mineral_water", + "level1": "drink", + "level2": "mineral_water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lid", + "level1": "container", + "level2": "lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "vitamin_b_water", + "level1": "beverage", + "level2": "vitamin_b_water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg", + "level1": "food", + "level2": "egg", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cake", + "level1": "food", + "level2": "cake", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "building_blocks", + "level1": "toy", + "level2": "building_blocks", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-31517", + "dataset_size": "1.2GB", + "statistics": { + "total_episodes": 212, + "total_frames": 31517, + "total_tasks": 5, + "total_videos": 848, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "f02d7798-2ef4-4eb5-9f41-d9d908b80510", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the cake on the table with the left gripper", + "Place the mineral water on the table with the left gripper", + "Grasp the umbrella on the white lid with the right gripper", + "Grasp the cake from the white basket with the right gripper", + "Grasp the vitamin B water on the white lid with the left gripper", + "Place the umbrella on the table with the right gripper", + "Grasp the blue cube block on the paper box with the left gripper", + "Place the green cube block on the table with the right gripper", + "End", + "Grasp the cake from the white basket with the left gripper", + "Place the blue cube block on the table with the left gripper", + "Grasp the mineral water on the white lid with the left gripper", + "Place the vitamin B water on the table with the right gripper", + "Place the vitamin B water on the table with the left gripper", + "Static", + "Place the cake on the table with the right gripper", + "Abnormal", + "Grasp the egg from the egg storage box with the right gripper", + "Place the egg on the table with the right gripper", + "Grasp the vitamin B water on the white lid with the right gripper", + "Grasp the green cube block on the paper box with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_take_down_umbrella_and_mineral_water_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_storage_tissue_and_milk_carton": { + "path": "AIRBOT_MMK2_storage_tissue_and_milk_carton", + "dataset_name": "storage_tissue_and_milk_carton", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Abnormal", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tissue_paper", + "level1": "daily_necessities", + "level2": "tissue_paper", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lid", + "level1": "container", + "level2": "lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk_carton", + "level1": "container", + "level2": "milk_carton", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-9751", + "dataset_size": "338.3MB", + "statistics": { + "total_episodes": 47, + "total_frames": 9751, + "total_tasks": 1, + "total_videos": 188, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "65bf2295-305d-4c59-aac7-0ce3349acaf9", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Abnormal", + "Grasp the tissue with the left gripper", + "Static", + "End", + "Place the tissue on the white basket with the left gripper", + "Grasp the milk with the right gripper", + "Place the milk on the white basket with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_storage_tissue_and_milk_carton_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Split_aloha_pour_tea": { + "path": "Split_aloha_pour_tea", + "dataset_name": "pour_tea", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick", + "pour" + ], + "tasks": "Pick up the teacup with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "teacup", + "level1": "container", + "level2": "teacup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "teapot", + "level1": "container", + "level2": "teapot", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-1305706", + "dataset_size": "13.7GB", + "statistics": { + "total_episodes": 977, + "total_frames": 1305706, + "total_tasks": 5, + "total_videos": 2931, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "dc22129e-7334-4a8e-b843-438763c0a08f", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pick up the teacup with the left gripper", + "End", + "Place the teacup in the center of view with the right gripper", + "Pick up the teapot with the left gripper", + "Pick up the teapot with the right gripper", + "Abnormal", + "Pick up the teacup with the right gripper", + "Place the down the teapot with the left gripper", + "Grasp the teapot with left gripper", + "Put down the teapot with left gripper", + "Pour tea into the teacup with right gripper", + "Put down the teapot with right gripper", + "Pour tea into the teacup with left gripper", + "Pour tea into the teacup with the right gripper", + "Grasp the teapot with right gripper", + "Pour tea into the teacup with the left gripper", + "Place the down the teapot with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Split_aloha_pour_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│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", + "structure": "Split_aloha_pour_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│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" + }, + "Airbot_MMK2_remove_pen_cap": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_remove_pen_cap", + "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": "pen", + "level1": "stationery", + "level2": "pen", + "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 pen, remove the cap, and put it down." + ], + "sub_tasks": [ + { + "subtask": "Place the pen cap on the table with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the pen tightly with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "End", + "subtask_index": 2 + }, + { + "subtask": "Place the pen on the table with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Remove the pen cap with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Lift the pen 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": 100, + "total_frames": 41147, + "fps": 30, + "total_tasks": 7, + "total_videos": 400, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "1.52 GB" + }, + "frame_num": 41147, + "dataset_size": "1.52 GB", + "data_structure": "Airbot_MMK2_remove_pen_cap_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:99" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "RMC-AIDA-L_pour_tea": { + "path": "RMC-AIDA-L_pour_tea", + "dataset_name": "pour_tea", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick", + "pour" + ], + "tasks": "Pour tea into the teacup with the light gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "container", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tea", + "level1": "water", + "level2": "tea", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "teapot", + "level1": "container", + "level2": "teapot", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-547759", + "dataset_size": "4.0GB", + "statistics": { + "total_episodes": 790, + "total_frames": 547759, + "total_tasks": 2, + "total_videos": 2370, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "25f997d1-8e07-4035-b14f-0b3219460e17", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pour tea into the teacup with the light gripper", + "Pour tea into the teacup with the right gripper", + "end", + "abnormal", + "Pour tea into the teacup with the left gripper", + "Pick up the teacup with the right gripper", + "Put down the teapot with the left gripper", + "Pick up the teacup with the left gripper", + "Pick up the teapot with the right gripper", + "Place the teacup in the center of view with the left gripper", + "Pick up the teapot with the left gripper", + "Put down the teapot with the right gripper", + "Place the teacup in the center of view with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_pour_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_pour_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Agilex_Cobot_Magic_storage_object": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_storage_object", + "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_table_cloths", + "level1": "laboratory_supplies", + "level2": "white_table_cloths", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "table", + "level1": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "apple", + "level1": "food", + "level2": "apple", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yellow_lemon", + "level1": "food", + "level2": "yellow_lemon", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pomegranate", + "level1": "food", + "level2": "pomegranate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread_dough", + "level1": "food", + "level2": "bread_dough", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "waffle", + "level1": "food", + "level2": "waffle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "green_lemon", + "level1": "food", + "level2": "green_lemon", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eggplant", + "level1": "food", + "level2": "eggplant", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chewing_gum", + "level1": "food", + "level2": "chewing_gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mango", + "level1": "food", + "level2": "mango", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chewing_gum", + "level1": "food", + "level2": "chewing_gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mint_candy", + "level1": "food", + "level2": "mint_candy", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mangosteen", + "level1": "food", + "level2": "mangosteen", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "food", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread", + "level1": "food", + "level2": "bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "food", + "level2": "banana", + "level3": null, + "level4": "Fruit cake", + "level5": null + }, + { + "object_name": "cake", + "level1": "food", + "level2": "cake", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "beef_cheeseburger", + "level1": "food", + "level2": "beef_cheeseburger", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "kitchen_supplies", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pan", + "level1": "kitchen_supplies", + "level2": "pan", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "small_teapot", + "level1": "kitchen_supplies", + "level2": "small_teapot", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "small_teacup", + "level1": "kitchen_supplies", + "level2": "small_teacup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "paper_ball", + "level1": "trash", + "level2": "paper_ball", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brown_square_towel", + "level1": "daily_necessities", + "level2": "brown_square_towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "black_cylindrical_pen_holder", + "level1": "stationery", + "level2": "black_cylindrical_pen_holder", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pink_long_towel", + "level1": "daily_necessities", + "level2": "pink_long_towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "whiteboard_eraser", + "level1": "stationery", + "level2": "whiteboard_eraser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mentholatum_facial_cleanser", + "level1": "daily_necessities", + "level2": "mentholatum_facial_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "duck", + "level1": "toys", + "level2": "duck", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "compass", + "level1": "stationery", + "level2": "compass", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "kitchen_supplies", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "blue_long_towel", + "level1": "daily_necessities", + "level2": "blue_long_towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pearMint candy", + "level1": "food", + "level2": "pear", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mint_candy", + "level1": "food", + "level2": "mint_candy", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "triangular_bread", + "level1": "food", + "level2": "triangular_bread Long Bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chinese_cabbage", + "level1": "food", + "level2": "chinese_cabbage", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "food", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "can", + "level1": "food", + "level2": "can", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bathing_in_flowers", + "level1": "daily_necessities", + "level2": "bathing_in_flowers", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "wok", + "level1": "kitchen_supplies", + "level2": "wok", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "red_bull_canned_drink", + "level1": "beverages", + "level2": "wok", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eyeglass_case", + "level1": "laboratory_supplies", + "level2": "eyeglass_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coke (Slim Can)", + "level1": "beverages", + "level2": "coke (Slim Can)", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "wahaha_AD_calcium", + "level1": "beverages", + "level2": "wahaha_AD_calcium", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brave_the_world_beer", + "level1": "beverages", + "level2": "brave_the_world_beer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brave_the_world_beer", + "level1": "beverages", + "level2": "brave_the_world_beer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "shampoo", + "level1": "daily_necessities", + "level2": "shampoo", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cleanser", + "level1": "daily_necessities", + "level2": "cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sausage", + "level1": "food", + "level2": "sausage", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "french_fries", + "level1": "food", + "level2": "french_fries", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "purple_trash_bag", + "level1": "trash", + "level2": "purple_trash_bag", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "red_date", + "level1": "food", + "level2": "red_date", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "pick up an item with a gripper and place it in a random container on the table." + ], + "sub_tasks": [ + { + "subtask": "Grasp the pink towel with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the XX into the purple pot with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the yellow lemon with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Grasp the AD milk with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Place the plush banana into the pink bowl with the left gripper", + "subtask_index": 4 + }, + { + "subtask": "Place the beer into the purple pot with the right gripper", + "subtask_index": 5 + }, + { + "subtask": "Place the green lemon into the pink bowl with the right gripper", + "subtask_index": 6 + }, + { + "subtask": "Grasp the red bull with the right gripper", + "subtask_index": 7 + }, + { + "subtask": "Grasp the beer with the right gripper", + "subtask_index": 8 + }, + { + "subtask": "Place the hollow ring bread into the red pot with the left gripper", + "subtask_index": 9 + }, + { + "subtask": "Grasp the banana with the left gripper", + "subtask_index": 10 + }, + { + "subtask": "Place the yellow lemon into the pink bowl with the left gripper", + "subtask_index": 11 + }, + { + "subtask": "Place the yellow lemon into the blue bowl with the right gripper", + "subtask_index": 12 + }, + { + "subtask": "Grasp the pink laundry detergent with the left gripper", + "subtask_index": 13 + }, + { + "subtask": "Place the eggplant into the purple pot with the right gripper", + "subtask_index": 14 + }, + { + "subtask": "Grasp the apple with the right gripper", + "subtask_index": 15 + }, + { + "subtask": "Place the peach into the red pot with the left gripper", + "subtask_index": 16 + }, + { + "subtask": "Place the red bull into the blue bowl with the left gripper", + "subtask_index": 17 + }, + { + "subtask": "Place the blue garbage bag into the pen container with the right gripper", + "subtask_index": 18 + }, + { + "subtask": "Grasp the shampoo with the right gripper", + "subtask_index": 19 + }, + { + "subtask": "Place the plush banana into the pink bowl with the right gripper", + "subtask_index": 20 + }, + { + "subtask": "Place the banana into the red pot with the left gripper", + "subtask_index": 21 + }, + { + "subtask": "Place the apple into the red pot with the left gripper", + "subtask_index": 22 + }, + { + "subtask": "Place the round chewing gum into the pen container with the left gripper", + "subtask_index": 23 + }, + { + "subtask": "Place the beer into the pink pot with the left gripper", + "subtask_index": 24 + }, + { + "subtask": "Place the yellow cake into the pink bowl with the left gripper", + "subtask_index": 25 + }, + { + "subtask": "Place the tin into the red pot with the right gripper", + "subtask_index": 26 + }, + { + "subtask": "Place the blue garbage bag into the purple pot with the left gripper", + "subtask_index": 27 + }, + { + "subtask": "Place the croissant into the purple pot with the right gripper", + "subtask_index": 28 + }, + { + "subtask": "Place the shampoo into the blue bowl with the left gripper", + "subtask_index": 29 + }, + { + "subtask": "Grasp the yellow lemon with the left gripper", + "subtask_index": 30 + }, + { + "subtask": "Place the eyeglass case into the purple pot with the right gripper", + "subtask_index": 31 + }, + { + "subtask": "Grasp the white blackboard erasure with the left gripper", + "subtask_index": 32 + }, + { + "subtask": "Place the yogurt into the pink bowl with the right gripper", + "subtask_index": 33 + }, + { + "subtask": "Place the blue garbage bag into the pink pot with the right gripper", + "subtask_index": 34 + }, + { + "subtask": "Place the green lemon into the blue bowl with the left gripper", + "subtask_index": 35 + }, + { + "subtask": "Place the apple into the pink pot with the left gripper", + "subtask_index": 36 + }, + { + "subtask": "Grasp the eyeglass case with the right gripper", + "subtask_index": 37 + }, + { + "subtask": "Place the yellow cake into the blue bowl with the left gripper", + "subtask_index": 38 + }, + { + "subtask": "Place the red bull into the pen container with the right gripper", + "subtask_index": 39 + }, + { + "subtask": "Place the croissant into the pink bowl with the left gripper", + "subtask_index": 40 + }, + { + "subtask": "Grasp the shower sphere with the left gripper", + "subtask_index": 41 + }, + { + "subtask": "Grasp the yogurt with the right gripper", + "subtask_index": 42 + }, + { + "subtask": "Grasp the croissant with the left gripper", + "subtask_index": 43 + }, + { + "subtask": "Grasp the tin with the left gripper", + "subtask_index": 44 + }, + { + "subtask": "Grasp the long bread with the right gripper", + "subtask_index": 45 + }, + { + "subtask": "Grasp the hard facial cleanser with the left gripper", + "subtask_index": 46 + }, + { + "subtask": "Place the mango into the pink bowl with the left gripper", + "subtask_index": 47 + }, + { + "subtask": "Grasp the plush banana with the left gripper", + "subtask_index": 48 + }, + { + "subtask": "Place the pink laundry detergent into the pen container with the left gripper", + "subtask_index": 49 + }, + { + "subtask": "Place the soft facial cleanser into the pink bowl with the right gripper", + "subtask_index": 50 + }, + { + "subtask": "Grasp the peach with the right gripper", + "subtask_index": 51 + }, + { + "subtask": "Grasp the mango with the left gripper", + "subtask_index": 52 + }, + { + "subtask": "Place the round chewing gum into the pink pot with the left gripper", + "subtask_index": 53 + }, + { + "subtask": "Place the white blackboard erasure into the pink bowl with the left gripper", + "subtask_index": 54 + }, + { + "subtask": "Place the peach into the pink bowl with the left gripper", + "subtask_index": 55 + }, + { + "subtask": "Grasp the pear with the left gripper", + "subtask_index": 56 + }, + { + "subtask": "Place the tin into the pink pot with the left gripper", + "subtask_index": 57 + }, + { + "subtask": "Place the cleaning agent into the pen container with the left gripper", + "subtask_index": 58 + }, + { + "subtask": "Place the shampoo into the blue bowl with the right gripper", + "subtask_index": 59 + }, + { + "subtask": "Grasp the hollow ring bread with the right gripper", + "subtask_index": 60 + }, + { + "subtask": "Place the shower sphere into the pink bowl with the right gripper", + "subtask_index": 61 + }, + { + "subtask": "Place the pear into the purple pot with the left gripper", + "subtask_index": 62 + }, + { + "subtask": "Place the round chewing gum into the pen container with the right gripper", + "subtask_index": 63 + }, + { + "subtask": "Grasp the peach with the left gripper", + "subtask_index": 64 + }, + { + "subtask": "Grasp the long bread with the left gripper", + "subtask_index": 65 + }, + { + "subtask": "Grasp the eggplant with the right gripper", + "subtask_index": 66 + }, + { + "subtask": "Place the blue garbage bag into the pink bowl with the right gripper", + "subtask_index": 67 + }, + { + "subtask": "Place the croissant into the red pot with the left gripper", + "subtask_index": 68 + }, + { + "subtask": "Grasp the green lemon with the right gripper", + "subtask_index": 69 + }, + { + "subtask": "Place the beer into the blue bowl with the left gripper", + "subtask_index": 70 + }, + { + "subtask": "Place the shampoo into the purple pot with the right gripper", + "subtask_index": 71 + }, + { + "subtask": "Grasp the shampoo with the left gripper", + "subtask_index": 72 + }, + { + "subtask": "Place the pink towel into the red pot with the left gripper", + "subtask_index": 73 + }, + { + "subtask": "Place the peach into the purple pot with the right gripper", + "subtask_index": 74 + }, + { + "subtask": "End", + "subtask_index": 75 + }, + { + "subtask": "Place the mint candy into the pink bowl with the right gripper", + "subtask_index": 76 + }, + { + "subtask": "Place the eggplant into the pen container with the right gripper", + "subtask_index": 77 + }, + { + "subtask": "Grasp the beer with the left gripper", + "subtask_index": 78 + }, + { + "subtask": "Place the AD milk into the pen container with the left gripper", + "subtask_index": 79 + }, + { + "subtask": "Place the banana into the pink bowl with the left gripper", + "subtask_index": 80 + }, + { + "subtask": "Grasp the tin with the right gripper\n", + "subtask_index": 81 + }, + { + "subtask": "Place the tin into the pink pot with the right gripper", + "subtask_index": 82 + }, + { + "subtask": "Place the AD milk into the pink pot with the left gripper", + "subtask_index": 83 + }, + { + "subtask": "Place the shower sphere into the purple pot with the right gripper", + "subtask_index": 84 + }, + { + "subtask": "Place the long bread into the red pot with the left gripper", + "subtask_index": 85 + }, + { + "subtask": "Grasp the yellow cake with the right gripper", + "subtask_index": 86 + }, + { + "subtask": "Grasp the croissant with the right gripper", + "subtask_index": 87 + }, + { + "subtask": "Grasp the red bull with the left gripper", + "subtask_index": 88 + }, + { + "subtask": "Place the peach into the pink bowl with the right gripper", + "subtask_index": 89 + }, + { + "subtask": "Place the tin into the pen container with the right gripper", + "subtask_index": 90 + }, + { + "subtask": "Place the long bread into the purple pot with the right gripper", + "subtask_index": 91 + }, + { + "subtask": "Place the orange into the pink pot with the left gripper", + "subtask_index": 92 + }, + { + "subtask": "Place the yellow cake into the blue bowl with the right gripper", + "subtask_index": 93 + }, + { + "subtask": "Grasp the pink towel with the left gripper", + "subtask_index": 94 + }, + { + "subtask": "Place the croissant into the pink bowl with the right gripper", + "subtask_index": 95 + }, + { + "subtask": "Place the hard facial cleanser into the pink bowl with the left gripper", + "subtask_index": 96 + }, + { + "subtask": "Place the round chewing gum into the red pot with the right gripper", + "subtask_index": 97 + }, + { + "subtask": "Grasp the blue garbage bag with the right gripper", + "subtask_index": 98 + }, + { + "subtask": "Grasp the tin with the right gripper", + "subtask_index": 99 + }, + { + "subtask": "Grasp the orange with the left gripper", + "subtask_index": 100 + }, + { + "subtask": "Grasp the blue garbage bag with the left gripper", + "subtask_index": 101 + }, + { + "subtask": "Place the shower sphere into the pink bowl with the left gripper", + "subtask_index": 102 + }, + { + "subtask": "Place the yogurt into the red pot with the right gripper", + "subtask_index": 103 + }, + { + "subtask": "Place the peach into the pink pot with the right gripper", + "subtask_index": 104 + }, + { + "subtask": "Grasp the hollow ring bread with the left gripper", + "subtask_index": 105 + }, + { + "subtask": "Grasp the apple with the left gripper", + "subtask_index": 106 + }, + { + "subtask": "Place the tin into the red pot with the left gripper", + "subtask_index": 107 + }, + { + "subtask": "Place the beer into the red pot with the left gripper", + "subtask_index": 108 + }, + { + "subtask": "Place the blue garbage bag into the pink bowl with the left gripper", + "subtask_index": 109 + }, + { + "subtask": "Place the mango into the purple pot with the right gripper", + "subtask_index": 110 + }, + { + "subtask": "Place the tin into the blue bowl with the left gripper", + "subtask_index": 111 + }, + { + "subtask": "Place the apple into the blue bowl with the left gripper", + "subtask_index": 112 + }, + { + "subtask": "Grasp the shower sphere with the right gripper", + "subtask_index": 113 + }, + { + "subtask": "Place the red bull into the pink bowl with the left gripper", + "subtask_index": 114 + }, + { + "subtask": "Grasp the yellow cake with the left gripper", + "subtask_index": 115 + }, + { + "subtask": "Grasp the round chewing gum with the right gripper", + "subtask_index": 116 + }, + { + "subtask": "Grasp the cleaning agent with the left gripper", + "subtask_index": 117 + }, + { + "subtask": "Place the coke into the pink pot with the left gripper", + "subtask_index": 118 + }, + { + "subtask": "Place the pink towelinto the pink bowl with the right gripper", + "subtask_index": 119 + }, + { + "subtask": "Grasp the round chewing gum with the left gripper", + "subtask_index": 120 + }, + { + "subtask": "Place the green lemon into the purple pot with the left gripper", + "subtask_index": 121 + }, + { + "subtask": "Place the hollow ring bread into the purple pot with the right gripper", + "subtask_index": 122 + }, + { + "subtask": "Place the peach into the purple pot with the left gripper", + "subtask_index": 123 + }, + { + "subtask": "Place the yellow cake into the pen container with the right gripper", + "subtask_index": 124 + }, + { + "subtask": "Place the apple into the pink pot with the right gripper", + "subtask_index": 125 + }, + { + "subtask": "Place the red bull into the pink pot with the right gripper", + "subtask_index": 126 + }, + { + "subtask": "Place the tin into the purple pot with the left gripper", + "subtask_index": 127 + }, + { + "subtask": "Place the yellow lemon into the pink bowl with the right gripper", + "subtask_index": 128 + }, + { + "subtask": "Grasp the mango with the right gripper", + "subtask_index": 129 + }, + { + "subtask": "Place the banana into the red pot with the right gripper", + "subtask_index": 130 + }, + { + "subtask": "Grasp the mint candy with the right gripper", + "subtask_index": 131 + }, + { + "subtask": "Place the apple into the pink bowl with the left gripper", + "subtask_index": 132 + }, + { + "subtask": "Grasp the soft facial cleanser with the right gripper", + "subtask_index": 133 + }, + { + "subtask": "Grasp the green lemon with the left gripper", + "subtask_index": 134 + }, + { + "subtask": "Place the red bull into the red pot with the left gripper", + "subtask_index": 135 + }, + { + "subtask": "Grasp the coke with the left gripper", + "subtask_index": 136 + }, + { + "subtask": "Place the cleaning agent into the pink bowl with the left gripper", + "subtask_index": 137 + }, + { + "subtask": "Grasp the banana with the right gripper", + "subtask_index": 138 + }, + { + "subtask": "Grasp the plush banana with the right gripper", + "subtask_index": 139 + }, + { + "subtask": "null", + "subtask_index": 140 + } + ], + "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": 49237, + "fps": 30, + "total_tasks": 141, + "total_videos": 297, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "855.52 MB" + }, + "frame_num": 49237, + "dataset_size": "855.52 MB", + "data_structure": "Agilex_Cobot_Magic_storage_object_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- backup\n| |-- data\n| | `-- chunk-000\n| `-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (87 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:98" + }, + "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, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "dtype": "float32", + "shape": [ + 2 + ] + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "Galaxea_R1_Lite_fold_towel_twice": { + "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_fold_towel_twice", + "dataset_uuid": "eb818363-8a30-492c-8639-78589399913b", + "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": "gray_square_towel", + "level1": "daily_necessities", + "level2": "gray_square_towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yellow_square_towel", + "level1": "daily_necessities", + "level2": "towels", + "level3": "yellow_square_towel", + "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 fold the yellow towel and grey towel in half twice,then put the yellow towel on the grey towel." + ], + "sub_tasks": [ + { + "subtask": "Press the gray towel with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Fold the yellow towel from left to right with left gripper", + "subtask_index": 1 + }, + { + "subtask": "Press the gray towel with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Fold the yellow towel upwards with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Fold the gray towel from left to right with left gripper", + "subtask_index": 4 + }, + { + "subtask": "Press the yellow towel with the right gripper", + "subtask_index": 5 + }, + { + "subtask": "Fold the gray towel from right to left with right gripper", + "subtask_index": 6 + }, + { + "subtask": "End", + "subtask_index": 7 + }, + { + "subtask": "Place the yellow towel on the gray towel with the left gripper", + "subtask_index": 8 + }, + { + "subtask": "Fold the yellow towel upwards with the left gripper", + "subtask_index": 9 + }, + { + "subtask": "Place the grey towel on the yellow towel with the left gripper", + "subtask_index": 10 + }, + { + "subtask": "Place the grey towel on the yellow towel with the right gripper", + "subtask_index": 11 + }, + { + "subtask": "Fold the gray towel upwards with the right gripper", + "subtask_index": 12 + }, + { + "subtask": "Press the yellow towel with the left gripper", + "subtask_index": 13 + }, + { + "subtask": "Move the position of the yellow towel with the left gripper", + "subtask_index": 14 + }, + { + "subtask": "Place the yellow towel on the gray towel with the right gripper", + "subtask_index": 15 + }, + { + "subtask": "Fold the gray towel upwards with the left gripper", + "subtask_index": 16 + }, + { + "subtask": "Fold the yellow towel from right to left with right gripper", + "subtask_index": 17 + }, + { + "subtask": "null", + "subtask_index": 18 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place", + "fold" + ], + "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": 46, + "total_frames": 50022, + "fps": 30, + "total_tasks": 19, + "total_videos": 184, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "2.14 GB" + }, + "frame_num": 50022, + "dataset_size": "2.14 GB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_fold_towel_twice_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (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_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:45" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + }, + "R1_Lite_tea_service_table_setting": { + "path": "R1_Lite_tea_service_table_setting", + "dataset_name": "tea_service_table_setting", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Return the tea bag to its original position", + "objects": [ + { + "object_name": "tea_table", + "level1": "furniture", + "level2": "tea_table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mineral_water", + "level1": "beverages", + "level2": "mineral_water", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "container", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "kettle", + "level1": "container", + "level2": "kettle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tea_bag", + "level1": "drink", + "level2": "tea_bag", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-107465", + "dataset_size": "4.6GB", + "statistics": { + "total_episodes": 109, + "total_frames": 107465, + "total_tasks": 1, + "total_videos": 327, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ae8f641b-7e62-47e3-a80a-aab9866a8d29", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Return the tea bag to its original position", + "Pick up the tea bag", + "Pick up the tea cup", + "Return the tea cup to its original position", + "abnormal", + "Return the bottled water to its original position", + "Place it on the right", + "Return the kettle to its original position", + "Place it on the left", + "Place it in front of you", + "Pick up the kettle", + "Pick up the bottled water", + "Place it on the tray", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_tea_service_table_setting_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_tea_service_table_setting_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_storage_item": { + "path": "AIRBOT_MMK2_storage_item", + "dataset_name": "storage_item", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Place the green rectangular block into the blue bowl with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "building_blocks", + "level1": "toy", + "level2": "building_blocks", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape_measure", + "level1": "tool", + "level2": "tape_measure", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-8573", + "dataset_size": "357.6MB", + "statistics": { + "total_episodes": 47, + "total_frames": 8573, + "total_tasks": 1, + "total_videos": 188, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "b53b741f-6c4c-401c-a3cf-83ef26539097", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the green rectangular block into the blue bowl with the left gripper", + "Place the tape measure into the pink plate with the right gripper", + "Grasp the tape measure with the right gripper", + "Static", + "Grasp the green rectangular block with the left gripper", + "End", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_storage_item_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_storage_item_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_box_storage_parcel_a": { + "path": "leju_robot_box_storage_parcel_a", + "dataset_name": "box_storage_parcel_a", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the package into the parcel locker.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parcel", + "level1": "container", + "level2": "parcel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "conveyor_belt", + "level1": "industrial_equipment", + "level2": "conveyor_belt", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-189545", + "dataset_size": "9.7GB", + "statistics": { + "total_episodes": 493, + "total_frames": 189545, + "total_tasks": 1, + "total_videos": 1479, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "58a31ae7-afbc-4d56-953d-6df89f8c1ba5", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the package into the parcel locker.", + "Pick up the package from the inbound machine.", + "Pick up the package from the conveyor belt.", + "Place the package onto the inbound machine.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_box_storage_parcel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_box_storage_parcel_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_place_metal_bowl_af": { + "path": "G1edu-u3_place_metal_bowl_af", + "dataset_name": "place_metal_bowl_af", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "pick", + "place" + ], + "tasks": "Place the metal bowl on the table with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "metal_bowl", + "level1": "bowl", + "level2": "metal_bowl", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-6265", + "dataset_size": "95.9MB", + "statistics": { + "total_episodes": 38, + "total_frames": 6265, + "total_tasks": 1, + "total_videos": 38, + "total_chunks": 1, + "chunks_size": 39, + "fps": 30 + }, + "dataset_uuid": "7335e7b9-55d2-417a-ba15-8aeba616ce6e", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the metal bowl on the table with left gripper", + "End", + "Place the metal bowl on the table with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_place_metal_bowl_af_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "RMC-AIDA-L_food_storage": { + "path": "RMC-AIDA-L_food_storage", + "dataset_name": "food_storage", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Lift the woven bag with the left gripper to open it", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "handbag", + "level1": "container", + "level2": "handbag", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread", + "level1": "food", + "level2": "bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "fruit", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-274806", + "dataset_size": "2.5GB", + "statistics": { + "total_episodes": 499, + "total_frames": 274806, + "total_tasks": 12, + "total_videos": 1497, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "f217b0c1-9f1e-4598-9845-0a85906dadf6", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Lift the woven bag with the left gripper to open it", + "Lower the woven bag with the left gripper to close it", + "abnormal", + "Place the egg yolk pastry into the woven bag with the right gripper", + "Place the peach into the woven bag with the right gripper", + "Pick up the orange with the right gripper", + "Pick up the egg yolk pastry with the right gripper", + "Pick up the bread with the right gripper", + "end", + "Place the bread into the woven bag with the right gripper", + "Place the orange into the woven bag with the right gripper", + "Pick up the peach with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_the_plate_holds_the_fruit": { + "path": "Cobot_Magic_the_plate_holds_the_fruit", + "dataset_name": "the_plate_holds_the_fruit", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "use the left arm to grab a banana from the bag", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "fruit", + "level1": "food", + "level2": "fruit", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-190455", + "dataset_size": "8.3GB", + "statistics": { + "total_episodes": 525, + "total_frames": 190455, + "total_tasks": 6, + "total_videos": 1575, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "052c69fa-debe-4d27-9d6d-ae6afff264c2", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "use the left arm to grab a banana from the bag", + "use the right arm to grab a kiwi from the bag", + "use the right arm to put the kiwi into the empty plate on the left", + "use the left arm to grab a pear from the bag", + "use the right arm to put the apple into the empty plate on the left", + "use the left arm to put the kiwi into the empty plate on the right", + "use the left arm to grab a kiwi from the bag", + "use the right arm to put the peach into the empty plate on the left", + "use the left arm to put the mango into the empty plate on the right", + "use the right arm to put the pomegranate into the empty plate on the left", + "use the left arm to grab an apple from the bag", + "use the left arm to put the peach into the empty plate on the right", + "use the right arm to grab a pomegranate from the bag", + "use the left arm to grab a mango from the bag", + "use the right arm to put the mango into the empty plate on the left", + "use the right arm to grab a mango from the bag", + "use the right arm to grab a banana from the bag", + "use the right arm to grab a peach from the bag", + "use the right arm to grab an apple from the bag", + "use the left arm to put the banana into the empty plate on the right", + "use the left arm to grab a peach from the bag", + "use the left arm to put the pomegranate into the empty plate on the right", + "use the left arm to put the lemon into the empty plate on the right", + "use the right arm to put the pear into the empty plate on the left", + "use the right arm to put the lemon into the empty plate on the left", + "use the right arm to put the banana into the empty plate on the right", + "use the left arm to grab a lemon from the bag", + "use the right arm to grab a pear from the bag", + "use the left arm to put the apple into the empty plate on the right", + "use the right arm to grab a lemon from the bag", + "use the left arm to put the pear into the empty plate on the right", + "use the left arm to grab a pomegranate from the bag", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_the_plate_holds_the_fruit_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_cover_lid": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_cover_lid", + "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": "lid", + "level1": "laboratory_supplies", + "level2": "lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "pick up the lid with both hands and cover the box." + ], + "sub_tasks": [ + { + "subtask": "Place the lid on the box with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "End", + "subtask_index": 1 + }, + { + "subtask": "Grasp the lid with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the lid on the box with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Grasp the lid with the left gripper", + "subtask_index": 4 + }, + { + "subtask": "null", + "subtask_index": 5 + } + ], + "atomic_actions": [ + "lift", + "place" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 50, + "total_frames": 16213, + "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": "569.80 MB" + }, + "frame_num": 16213, + "dataset_size": "569.80 MB", + "data_structure": "Airbot_MMK2_cover_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| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "office & workspace", + "level2": "office", + "level3": null, + "level4": null, + "level5": null + }, + "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", + "objects": [ + { + "object_name": "table", + "level1": "home_storage", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "deli_water-based_marker", + "level1": "stationery", + "level2": "deli_water-based_marker", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "notebook", + "level1": "stationery", + "level2": "notebook", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mouse", + "level1": "appliances", + "level2": "mouse", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mouse_pad", + "level1": "appliances", + "level2": "mouse_pad", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "black_table_cloths", + "level1": "laboratory_supplies", + "level2": "black_table_cloths", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "the left gripper organize the pen on the notebook then the right gripper organize the mouse on the mouse pad." + ], + "sub_tasks": [ + { + "subtask": "Right gripper", + "subtask_index": 0 + }, + { + "subtask": "Pick up the mouse with right gripper", + "subtask_index": 1 + }, + { + "subtask": "Pick up the marker pen with right gripper", + "subtask_index": 2 + }, + { + "subtask": "Pick up the mouse with left gripper", + "subtask_index": 3 + }, + { + "subtask": "End", + "subtask_index": 4 + }, + { + "subtask": "Place the marker pen on the notebook with right gripper", + "subtask_index": 5 + }, + { + "subtask": "Place the mouse on the mouse pad with left gripper", + "subtask_index": 6 + }, + { + "subtask": "Place the marker pen on the notebook with left gripper", + "subtask_index": 7 + }, + { + "subtask": "Left gripper", + "subtask_index": 8 + }, + { + "subtask": "Pick up the marker pen with left gripper", + "subtask_index": 9 + }, + { + "subtask": "Place the mouse on the mouse pad with right gripper", + "subtask_index": 10 + }, + { + "subtask": "null", + "subtask_index": 11 + } + ], + "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": 30, + "total_frames": 20668, + "fps": 30, + "total_tasks": 12, + "total_videos": 90, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "513.70 MB" + }, + "frame_num": 20668, + "dataset_size": "513.70 MB", + "data_structure": "Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (18 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:29" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" + }, + "Galaxea_R1_Lite_move_mouse": { + "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_move_mouse", + "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": "mouse", + "level1": "computer_peripherals", + "level2": "mouse", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mouse_pad", + "level1": "computer_peripherals", + "level2": "mouse_pad", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "use the left gripper to place the mouse on the left side of the table onto the mouse pad on the right side." + ], + "sub_tasks": [ + { + "subtask": "Grasp the mouse with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Place the mouse on the mouse pad with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "End", + "subtask_index": 2 + }, + { + "subtask": "null", + "subtask_index": 3 + } + ], + "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": 30, + "total_frames": 8927, + "fps": 30, + "total_tasks": 4, + "total_videos": 120, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "219.01 MB" + }, + "frame_num": 8927, + "dataset_size": "219.01 MB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_move_mouse_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (18 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:29" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + }, + "G1edu-u3_put_the_lemon_on_the_plate_ah": { + "path": "G1edu-u3_put_the_lemon_on_the_plate_ah", + "dataset_name": "put_the_lemon_on_the_plate_ah", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place" + ], + "tasks": "Place the lemon on the orange plate with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "kitchen_supplies", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lemon", + "level1": "fruits", + "level2": "lemon", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-1961", + "dataset_size": "20.4MB", + "statistics": { + "total_episodes": 9, + "total_frames": 1961, + "total_tasks": 1, + "total_videos": 9, + "total_chunks": 1, + "chunks_size": 9, + "fps": 30 + }, + "dataset_uuid": "7f32d00d-3005-45c1-90cb-9a16b5e64034", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the lemon on the orange plate with right gripper", + "End", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_put_the_lemon_on_the_plate_ah_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_make_fruit_salad": { + "path": "Cobot_Magic_make_fruit_salad", + "dataset_name": "make_fruit_salad", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the banana in the basket with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "apple", + "level1": "fruit", + "level2": "apple", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bannana", + "level1": "fruit", + "level2": "bannana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "grape", + "level1": "fruit", + "level2": "grape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mango", + "level1": "fruit", + "level2": "mango", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lemon", + "level1": "fruit", + "level2": "lemon", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-181253", + "dataset_size": "3.4GB", + "statistics": { + "total_episodes": 687, + "total_frames": 181253, + "total_tasks": 5, + "total_videos": 2061, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "271b7c53-966b-4ed0-a493-1efc8fd71d86", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the banana in the basket with left gripper", + "Place the banana in the basket with right gripper", + "Static", + "Place the apple in the basket with right gripper", + "Grasp the grape with right gripper", + "End", + "Grasp the mango with left gripper", + "Grasp the lemon with left gripper", + "Place the mango in the basket with right gripper", + "Grasp the apple with left gripper", + "Place the mango on the table with right gripper", + "Place the lemon in the basket with right gripper", + "Grasp the lemon with right gripper", + "Grasp the grape with left gripper", + "Place the apple in the basket with left gripper", + "Grasp the mango with right gripper", + "Place the grape in the basket with left gripper", + "Abnormal", + "Place the mango in the basket with left gripper", + "Grasp the apple with right gripper", + "Grasp the banana with left gripper", + "Place the lemon in the basket with left gripper", + "Grasp the banana with right gripper", + "Place the grape in the basket with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_make_fruit_salad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_make_fruit_salad_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_screw_the_bottle_cap": { + "path": "AIRBOT_MMK2_screw_the_bottle_cap", + "dataset_name": "screw_the_bottle_cap", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the bottle on the table with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bottle", + "level1": "container", + "level2": "bottle", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-16965", + "dataset_size": "632.3MB", + "statistics": { + "total_episodes": 50, + "total_frames": 16965, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "311c08d2-fc43-43ec-afbf-f038c651ad6a", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the bottle on the table with the left gripper", + "Grasp the bottle with the left gripper", + "Unscrew the bottle cap with the right hand while holding the bottle with the left hand", + "Lift the bottle up with the left gripper", + "End", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_screw_the_bottle_cap_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_toy_storage": { + "path": "AIRBOT_MMK2_toy_storage", + "dataset_name": "toy_storage", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the whale with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "little_dog_doll", + "level1": "toy", + "level2": "little_dog_doll", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "shark_doll", + "level1": "toy", + "level2": "shark_doll", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lid", + "level1": "container", + "level2": "lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "building_block", + "level1": "toy", + "level2": "building_block", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-28709", + "dataset_size": "1.1GB", + "statistics": { + "total_episodes": 199, + "total_frames": 28709, + "total_tasks": 4, + "total_videos": 796, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "38eb75f9-27a2-42df-817f-90d75b91a582", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the whale with the left gripper", + "End", + "Place the puppy on the table with the left and right grippers", + "Grasp the puppy with the left and right grippers", + "Static", + "Grasp the large green cube block with the left gripper", + "Place the whale on the white lid with the right gripper", + "Grasp the large red cube block with the right gripper", + "Place the large green cube block on the pink plate with the left gripper", + "Place the large red cube block on the white lid with the right gripper", + "Deliver the whale from left gripper to right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_toy_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_toy_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_mobile_car": { + "path": "AIRBOT_MMK2_mobile_car", + "dataset_name": "mobile_car", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "push" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "car", + "level1": "toy", + "level2": "car", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-6897", + "dataset_size": "175.6MB", + "statistics": { + "total_episodes": 50, + "total_frames": 6897, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "51dbc118-d1f9-4b26-9b28-98863d08f696", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Push the toy car from left to right with the left gripper", + "Static", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_mobile_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_mobile_car_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_move_the_ball_and_the_cube_block": { + "path": "Cobot_Magic_move_the_ball_and_the_cube_block", + "dataset_name": "move_the_ball_and_the_cube_block", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the sphere on the table", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "ball", + "level1": "toy", + "level2": "ball", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cube_block", + "level1": "toy", + "level2": "cube_block", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-23991", + "dataset_size": "451.4MB", + "statistics": { + "total_episodes": 98, + "total_frames": 23991, + "total_tasks": 1, + "total_videos": 294, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "7bcc81f3-9d87-4dbc-a06b-fb8a69efe0fb", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the sphere on the table", + "Place the ball into the sphere recess", + "End", + "Place the ball on the table", + "Pick up the ball", + "Place the sphere recess in the center of the table", + "Place the sphere into the sphere-shaped recess", + "Pick up the sphere recess", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_move_the_ball_and_the_cube_block_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_garbage_disposal": { + "path": "R1_Lite_garbage_disposal", + "dataset_name": "garbage_disposal", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Pick up the garbage", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "garbage", + "level1": "garbage", + "level2": "garbage", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "trash_can", + "level1": "container", + "level2": "trash_can", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-70054", + "dataset_size": "3.7GB", + "statistics": { + "total_episodes": 81, + "total_frames": 70054, + "total_tasks": 1, + "total_videos": 243, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "3c93f53a-ad7f-446d-ab74-686039cffcdf", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pick up the garbage", + "abnromal", + "Put the garbage in the trash can", + "Hand it to the other hand", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_garbage_disposal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_garbage_disposal_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_moving_parts_k": { + "path": "leju_robot_moving_parts_k", + "dataset_name": "moving_parts_k", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Pick up the small component from the shelf.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-468307", + "dataset_size": "28.4GB", + "statistics": { + "total_episodes": 329, + "total_frames": 468307, + "total_tasks": 1, + "total_videos": 987, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "062231be-de5e-4cef-b404-096085be3e9e", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pick up the small component from the shelf.", + "Grasp the white part with right gripper", + "End", + "Move to the initial position at the workbench.", + "Insert the small component into the corresponding slot on the workbench.", + "Place the white part on the table with right gripper", + "Move to the table behind body", + "Move the small component to the workbench.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_moving_parts_k_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_k_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AgiBot-g1_mobile_accessory_storage_box_f": { + "path": "AgiBot-g1_mobile_accessory_storage_box_f", + "dataset_name": "mobile_accessory_storage_box_f", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Place the mouse and power cord into the box.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "accessories", + "level1": "electronic_products", + "level2": "accessories", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-31735", + "dataset_size": "12.2GB", + "statistics": { + "total_episodes": 68, + "total_frames": 31735, + "total_tasks": 1, + "total_videos": 544, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "52a333b0-b320-467a-a555-12066d086c01", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the mouse and power cord into the box.", + "Simultaneously pick up the mouse and power cord from the accessory packaging area.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_mobile_accessory_storage_box_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_place_the_books": { + "path": "AIRBOT_MMK2_place_the_books", + "dataset_name": "place_the_books", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "push" + ], + "tasks": "Push the book from right to left with the right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "book", + "level1": "office_supplies", + "level2": "book", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bookshelf", + "level1": "container", + "level2": "bookshelf", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-20564", + "dataset_size": "1.1GB", + "statistics": { + "total_episodes": 49, + "total_frames": 20564, + "total_tasks": 1, + "total_videos": 196, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "e4617854-ddc2-4d6e-b108-2369485a9167", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Push the book from right to left with the right gripper", + "Grasp the book with the left gripper", + "Place the book into the front mezzanine of the bookshelf with the left gripper", + "Static", + "End", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_place_the_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_place_the_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_move_phone_twice": { + "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_phone_twice", + "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 + }, + { + "object_name": "paper_boxes", + "level1": "home_storage", + "level2": "paper_boxes", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "place the mobile phone on the box with your left hand and take it off with your right hand." + ], + "sub_tasks": [ + { + "subtask": "Grasp the telephone with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "End", + "subtask_index": 1 + }, + { + "subtask": "Abnormal", + "subtask_index": 2 + }, + { + "subtask": "Place the telephone on the box with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Static", + "subtask_index": 4 + }, + { + "subtask": "Grasp the telephone with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "Place the telephone on the table 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": 50, + "total_frames": 9795, + "fps": 30, + "total_tasks": 8, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "512.21 MB" + }, + "frame_num": 9795, + "dataset_size": "512.21 MB", + "data_structure": "Airbot_MMK2_move_phone_twice_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Galaxea_R1_Lite_toggle_drawer_yellow": { + "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_toggle_drawer_yellow", + "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": "yellow_drawer", + "level1": "storage_utensils", + "level2": "yellow_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": [ + "use the gripper to open the drawer and close the yellow drawer." + ], + "sub_tasks": [ + { + "subtask": "Open the yellow drawer with left gripper", + "subtask_index": 0 + }, + { + "subtask": "Close the yellow drawer with left gripper", + "subtask_index": 1 + }, + { + "subtask": "Close the yellow drawer with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Open the yellow drawer with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Close the yellow drawer with the left gripper", + "subtask_index": 4 + }, + { + "subtask": "Open the yellow drawer with right gripper", + "subtask_index": 5 + }, + { + "subtask": "End", + "subtask_index": 6 + }, + { + "subtask": "Open the yellow drawer with the left gripper", + "subtask_index": 7 + }, + { + "subtask": "Close the yellow drawer with right gripper", + "subtask_index": 8 + }, + { + "subtask": "Right gripper", + "subtask_index": 9 + }, + { + "subtask": "Left gripper", + "subtask_index": 10 + }, + { + "subtask": "null", + "subtask_index": 11 + } + ], + "atomic_actions": [ + "grasp", + "push", + "pull" + ], + "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": 97, + "total_frames": 37662, + "fps": 30, + "total_tasks": 12, + "total_videos": 388, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "1.57 GB" + }, + "frame_num": 37662, + "dataset_size": "1.57 GB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_toggle_drawer_yellow_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (85 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:96" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + }, + "AIRBOT_MMK2_pull_the_syringe_piston": { + "path": "AIRBOT_MMK2_pull_the_syringe_piston", + "dataset_name": "pull_the_syringe_piston", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "syringe", + "level1": "medical_supplies", + "level2": "syringe", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-9990", + "dataset_size": "473.9MB", + "statistics": { + "total_episodes": 50, + "total_frames": 9990, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "0dd7afd0-0119-4a2d-a6bf-0eff2463b0bd", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Grasp the syringe with the left gripper", + "Pull the piston with the right gripper", + "Lift the syringe with the left gripper", + "Grasp the piston with the right gripper", + "Place the syringe on the table with the left gripper", + "Static", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_pull_the_syringe_piston_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_move_the_position_of_the_peeler": { + "path": "R1_Lite_move_the_position_of_the_peeler", + "dataset_name": "move_the_position_of_the_peeler", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "place", + "pick", + "grasp" + ], + "tasks": "Grasp the peeler with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pen", + "level1": "office_supplies", + "level2": "pen", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "banana", + "level1": "fruit", + "level2": "banana", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bath_ball", + "level1": "daily_necessities", + "level2": "bath_ball", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "can", + "level1": "container", + "level2": "can", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eraser", + "level1": "office_supplies", + "level2": "eraser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "hard_cleanser", + "level1": "daily_necessities", + "level2": "hard_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "long_bread", + "level1": "food", + "level2": "long_bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peeler", + "level1": "tool", + "level2": "peeler", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "block", + "level1": "toy", + "level2": "block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "duck", + "level1": "toy", + "level2": "duck", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soap", + "level1": "daily_necessities", + "level2": "soap", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cola", + "level1": "drink", + "level2": "cola", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "detergent", + "level1": "daily_necessities", + "level2": "detergent", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_beater", + "level1": "electrical_appliances", + "level2": "egg_beater", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "orange", + "level1": "fruit", + "level2": "orange", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "peach", + "level1": "fruit", + "level2": "peach", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "marker", + "level1": "office_supplies", + "level2": "marker", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "rubiks_cube", + "level1": "toy", + "level2": "rubiks_cube", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread_slice", + "level1": "food", + "level2": "bread_slice", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "brush", + "level1": "daily_necessities", + "level2": "brush", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "yogurt", + "level1": "drink", + "level2": "yogurt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "power_strip", + "level1": "electric_appliance", + "level2": "power_strip", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "milk", + "level1": "drink", + "level2": "milk", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soda", + "level1": "drink", + "level2": "soda", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lime", + "level1": "fruit", + "level2": "lime", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "coffee_capsule", + "level1": "drink", + "level2": "coffee_capsule", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "dish", + "level1": "container", + "level2": "dish", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glass", + "level1": "furniture", + "level2": "glass", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "glasses_case", + "level1": "daily_necessities", + "level2": "glasses_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "gum", + "level1": "daily_necessities", + "level2": "gum", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape", + "level1": "daily_necessities", + "level2": "tape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "soft_cleanser", + "level1": "daily_necessities", + "level2": "soft_cleanser", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chips", + "level1": "food", + "level2": "chips", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "chocolate", + "level1": "food", + "level2": "chocolate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cookie", + "level1": "food", + "level2": "cookie", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spoon", + "level1": "tableware", + "level2": "spoon", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-10477", + "dataset_size": "369.6MB", + "statistics": { + "total_episodes": 43, + "total_frames": 10477, + "total_tasks": 1, + "total_videos": 172, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "32cc9e19-b5a0-4f09-a124-2f042003a5ed", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the peeler with right gripper", + "Static", + "Grasp the peeler with left gripper", + "End", + "Place the peeler on the table with right gripper", + "Place the peeler on the table with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_move_the_position_of_the_peeler_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_move_the_position_of_the_peeler_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_left_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife": { + "path": "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife", + "dataset_name": "place_the_pliers_and_wallpaper_knife", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Static", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "pliers", + "level1": "tool", + "level2": "pliers", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lid", + "level1": "container", + "level2": "lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "utility_knife", + "level1": "tool", + "level2": "utility_knife", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-8236", + "dataset_size": "230.1MB", + "statistics": { + "total_episodes": 50, + "total_frames": 8236, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "dc1abf9a-1c9d-43f0-bf5f-2c0f52365a88", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Static", + "End", + "Place the utility knife into white basket with the right gripper", + "Place the plier into white basket with the left gripper", + "Abnormal", + "Grasp the plier with the left gripper", + "Grasp the utility knife with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "RMC-AIDA-L_fold_shirt": { + "path": "RMC-AIDA-L_fold_shirt", + "dataset_name": "fold_shirt", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "fold", + "place" + ], + "tasks": "Fold the lower left sleeve with the left hand.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "shirt", + "level1": "clothing", + "level2": "shirt", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-3512125", + "dataset_size": "29.7GB", + "statistics": { + "total_episodes": 1487, + "total_frames": 3512125, + "total_tasks": 6, + "total_videos": 4461, + "total_chunks": 2, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "bbe55f1a-041d-4956-b4a9-17c9457510aa", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Fold the lower left sleeve with the left hand.", + "Fold the lower left sleeve to the left.", + "Fold the clothes with the right hand.", + "Fold the clothes to the right.", + "Press the middle of the clothes with the right hand.", + "Pull the clothes with the right hand.", + "Discard.", + "Grab the upper right corner of the clothes with the right hand.", + "Grab the lower left corner of the clothes with the left hand.", + "Fold the lower right sleeve to the right.", + "Pull the clothes to the left.", + "Pull the clothes with the left hand.", + "Fold the clothes with the left hand.", + "Push the clothes to the left.", + "Grab the upper left corner of the clothes with the left hand.", + "Pull the clothes to the right.", + "Grab the lower right corner of the clothes with the right hand.", + "Fold the lower right sleeve with the right hand.", + "end", + "Fold the clothes to the left.", + "Push the clothes with the left hand.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_fold_shirt_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ ├── chunk-000/\n│ │ ├── episode_000000.parquet\n│ │ ├── episode_000001.parquet\n│ │ ├── episode_000002.parquet\n│ │ ├── episode_000003.parquet\n│ │ ├── episode_000004.parquet\n│ │ └── (...)\n│ └── chunk-001/\n│ ├── episode_001000.parquet\n│ ├── episode_001001.parquet\n│ ├── episode_001002.parquet\n│ ├── episode_001003.parquet\n│ ├── episode_001004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n ├── chunk-000/\n │ ├── observation.images.cam_high_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ ├── observation.images.cam_left_wrist_rgb/\n │ │ ├── episode_000000.mp4\n │ │ ├── episode_000001.mp4\n │ │ ├── episode_000002.mp4\n │ │ ├── episode_000003.mp4\n │ │ ├── episode_000004.mp4\n │ │ └── (...)\n │ └── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── chunk-001/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_001000.mp4\n │ ├── episode_001001.mp4\n │ ├── episode_001002.mp4\n │ ├── episode_001003.mp4\n │ ├── episode_001004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_001000.mp4\n ├── episode_001001.mp4\n ├── episode_001002.mp4\n ├── episode_001003.mp4\n ├── episode_001004.mp4\n └── (...)" + }, + "Cobot_Magic_water_bottle_storage": { + "path": "Cobot_Magic_water_bottle_storage", + "dataset_name": "water_bottle_storage", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "open", + "close" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "drawer", + "level1": "furniture", + "level2": "drawer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "water_bottle", + "level1": "container", + "level2": "water_bottle", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-56495", + "dataset_size": "1.0GB", + "statistics": { + "total_episodes": 100, + "total_frames": 56495, + "total_tasks": 1, + "total_videos": 300, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "d77bcbca-f9c3-445e-b349-2c6e1470f4b0", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Place the water bottle inside the drawer.", + "Close the drawer.", + "Place the water bottle in the top drawer with the left gripper", + "Close the top drawer with the right gripper", + "Open the top drawer with the right gripper", + "Open the drawer.", + "Pick up the water bottle with the left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_water_bottle_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_water_bottle_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_make_breakfast": { + "path": "R1_Lite_make_breakfast", + "dataset_name": "make_breakfast", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Put the egg in the bowl", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread", + "level1": "food", + "level2": "bread", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eggs", + "level1": "food", + "level2": "eggs", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "hot_water_bottle", + "level1": "electric_appliance", + "level2": "hot_water_bottle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "container", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bread_machine", + "level1": "electric_appliance", + "level2": "bread_machine", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "fruit", + "level1": "food", + "level2": "fruir", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-105680", + "dataset_size": "6.2GB", + "statistics": { + "total_episodes": 45, + "total_frames": 105680, + "total_tasks": 1, + "total_videos": 135, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "398b647f-5d05-4f3c-8367-2d7077c8c9fe", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Put the egg in the bowl", + "Put the bread slices in the toaster", + "Put the kettle back", + "Pour water into a cup", + "abnormal", + "Put the baked bread on a plate", + "Use a bread toaster", + "Put the fruit on a plate", + "Pick up the kettle", + "Pick up the egg", + "Pick up the bread slice", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_make_breakfast_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_make_breakfast_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_slide_block": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_slide_block", + "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": "educational_building_blocks", + "level1": "toys", + "level2": "educational_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": [ + "press the building block with right hand to move its position." + ], + "sub_tasks": [ + { + "subtask": "Move the orange cylinder to the right side of the box with right gripper", + "subtask_index": 0 + }, + { + "subtask": "End", + "subtask_index": 1 + }, + { + "subtask": "Move the blue cube to the upper right side of the box with right gripper", + "subtask_index": 2 + }, + { + "subtask": "Adjust the build blocks", + "subtask_index": 3 + }, + { + "subtask": "Move the green cylinder to the right side of the box with right gripper", + "subtask_index": 4 + }, + { + "subtask": "Move the wooden arched build blocks to the upper right side of the box with right gripper", + "subtask_index": 5 + }, + { + "subtask": "Abnormal", + "subtask_index": 6 + }, + { + "subtask": "Move the yellow cube to the upper right side of the box with right gripper", + "subtask_index": 7 + }, + { + "subtask": "null", + "subtask_index": 8 + } + ], + "atomic_actions": [ + "press", + "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": 173, + "total_frames": 52760, + "fps": 30, + "total_tasks": 9, + "total_videos": 692, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "2.13 GB" + }, + "frame_num": 52760, + "dataset_size": "2.13 GB", + "data_structure": "Airbot_MMK2_slide_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| `-- ... (161 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": "0:172" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "Cobot_Magic_move_the_small_ball": { + "path": "Cobot_Magic_move_the_small_ball", + "dataset_name": "move_the_small_ball", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the spherical object on the right side", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "spherical_object", + "level1": "toy", + "level2": "spherical_object", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-25598", + "dataset_size": "404.6MB", + "statistics": { + "total_episodes": 100, + "total_frames": 25598, + "total_tasks": 1, + "total_videos": 300, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 50 + }, + "dataset_uuid": "d3bee16b-97e7-4e2b-ae25-346189946b81", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the spherical object on the right side", + "Place the picked object on the left side of the table", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_move_the_small_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_move_the_small_ball_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_play_guitar": { + "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_guitar", + "dataset_uuid": "00000000-0000-0000-0000-000000000000", + "scene_type": { + "level1": "education", + "level2": "after-school_tutoring_center", + "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": "block", + "level1": "toy", + "level2": "block", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "guitar", + "level1": "musical_instrument", + "level2": "guitar", + "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 guitar with your left hand, play it with your right hand, and then put it down with your left hand." + ], + "sub_tasks": [ + { + "subtask": "Lift the ukulele with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "End", + "subtask_index": 1 + }, + { + "subtask": "Play ukulele with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Grasp the ukulele with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Place the ukulele on the table with the left gripper", + "subtask_index": 4 + }, + { + "subtask": "null", + "subtask_index": 5 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 94, + "total_frames": 23327, + "fps": 30, + "total_tasks": 6, + "total_videos": 376, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "944.70 MB" + }, + "frame_num": 23327, + "dataset_size": "944.70 MB", + "data_structure": "Airbot_MMK2_play_guitar_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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| `-- ... (82 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": "0:93" + }, + "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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "leju_robot_hotel_services_d": { + "path": "leju_robot_hotel_services_d", + "dataset_name": "hotel_services_d", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Hand the room key to the person.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "home_storage", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "card", + "level1": "nfc", + "level2": "card", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sensor", + "level1": "electronic_products", + "level2": "sensor", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-224505", + "dataset_size": "15.1GB", + "statistics": { + "total_episodes": 324, + "total_frames": 224505, + "total_tasks": 1, + "total_videos": 972, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "83fb3fa9-72ea-4860-a22f-c6a5a597df39", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Hand the room key to the person.", + "Place the ID card on the card reader.", + "Take the ID card from the person's hand.", + "Pick up the room key from the key card box.", + "Hand the ID card to the person.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_hotel_services_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_hotel_services_d_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube": { + "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_red_yellow_left_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": "large_test_tubes", + "level1": "laboratory_supplies", + "level2": "large_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 red pigment by grippers and pour them into the beaker." + ], + "sub_tasks": [ + { + "subtask": "Grasp the red reagent with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Pour the red reagent into the graduated cylinder with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "End", + "subtask_index": 2 + }, + { + "subtask": "Place the test tube into the pink bowl with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "Grasp the yellow reagent with the left gripper", + "subtask_index": 4 + }, + { + "subtask": "Pour the yellow reagent into the graduated cylinder with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "null", + "subtask_index": 6 + } + ], + "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=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": 100, + "total_frames": 89688, + "fps": 30, + "total_tasks": 7, + "total_videos": 400, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "2.93 GB" + }, + "frame_num": 89688, + "dataset_size": "2.93 GB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:99" + }, + "features": { + "observation.images.cam_head_left_rgb": { + "dtype": "video", + "shape": [ + 720, + 1280, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 720, + "video.width": 1280, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_head_right_rgb": { + "dtype": "video", + "shape": [ + 720, + 1280, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 720, + "video.width": 1280, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 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:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + }, + "RMC-AIDA-L_place_towel": { + "path": "RMC-AIDA-L_place_towel", + "dataset_name": "place_towel", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "towel", + "level1": "clothing", + "level2": "towel", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-281308", + "dataset_size": "4.8GB", + "statistics": { + "total_episodes": 398, + "total_frames": 281308, + "total_tasks": 2, + "total_videos": 1194, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "666a0109-3399-4955-b2fb-66509139637f", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Spread the towel flat with the left gripper", + "Abnormal", + "Pick up a towel with the left gripper", + "Static", + "Pick up a towel with the right gripper", + "Spread the towel flat with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "RMC-AIDA-L_place_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "RMC-AIDA-L_place_towel_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_storage_electronics_yellow_baket": { + "task_categories": [ + "robotics" + ], + "language": [ + "en" + ], + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_storage_electronics_yellow_baket", + "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": "paper_boxes", + "level1": "packaging", + "level2": "paper_boxes", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "baskets", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "put the electronic products components into the yellow basket." + ], + "sub_tasks": [ + { + "subtask": "Place the calculator box into the storage box with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the calculator box with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Place the calculator box into the storage box with the right gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the phone case box into the storage box with the right gripper", + "subtask_index": 3 + }, + { + "subtask": "Place the phone case box in the yellow box with the right gripper", + "subtask_index": 4 + }, + { + "subtask": "Place the phone case box into the storage box with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "Abnormal", + "subtask_index": 6 + }, + { + "subtask": "Place the calculator box in the yellow box with the left gripper", + "subtask_index": 7 + }, + { + "subtask": "Grasp the calculator box with the right gripper", + "subtask_index": 8 + }, + { + "subtask": "Grasp the phone case box with the right gripper", + "subtask_index": 9 + }, + { + "subtask": "End", + "subtask_index": 10 + }, + { + "subtask": "Grasp the phone case box with the left gripper", + "subtask_index": 11 + }, + { + "subtask": "null", + "subtask_index": 12 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "robot_name": [ + "Airbot_MMK2" + ], + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" + ], + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 99, + "total_frames": 25739, + "fps": 30, + "total_tasks": 13, + "total_videos": 396, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "879.43 MB" + }, + "frame_num": 25739, + "dataset_size": "879.43 MB", + "data_structure": "Airbot_MMK2_storage_electronics_yellow_baket_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (87 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:98" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "AIRBOT_MMK2_egg_storage": { + "path": "AIRBOT_MMK2_egg_storage", + "dataset_name": "egg_storage", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the egg with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg", + "level1": "food", + "level2": "egg", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_box", + "level1": "food", + "level2": "egg_box", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-13597", + "dataset_size": "525.2MB", + "statistics": { + "total_episodes": 58, + "total_frames": 13597, + "total_tasks": 2, + "total_videos": 232, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "63a0fe6b-923c-4ac5-9b65-501c2a9b8c99", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the egg with the left gripper", + "Grasp the egg with the right gripper", + "Abnormal", + "End", + "Place the egg into bowl with the left gripper", + "Place the egg into bowl with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_egg_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_egg_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_pick_up_and_store_items": { + "path": "R1_Lite_pick_up_and_store_items", + "dataset_name": "pick_up_and_store_items", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "pull", + "push" + ], + "tasks": "Place the tissue on the table", + "objects": [ + { + "object_name": "drawer", + "level1": "container", + "level2": "drawer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tissue_paper", + "level1": "daily_necessities", + "level2": "tissue_paper", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "disposable_slippers", + "level1": "daily_necessities", + "level2": "disposable_slippers", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tape", + "level1": "tool", + "level2": "tape", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "solid_beverage", + "level1": "beverage", + "level2": "solid_beverage", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "shorts", + "level1": "clothing", + "level2": "shorts", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "roll_paper", + "level1": "daily_necessities", + "level2": "roll_paper", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "t_shirt", + "level1": "cloth", + "level2": "t_shirt", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mineral_water", + "level1": "drink", + "level2": "mineral_water", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-125588", + "dataset_size": "5.8GB", + "statistics": { + "total_episodes": 108, + "total_frames": 125588, + "total_tasks": 1, + "total_videos": 324, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ce4cb36f-2a3e-45e1-80b7-e559203fb5c3", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the tissue on the table", + "Place the disposable slippers on the table", + "Take out the tissue from the drawer", + "Put the slippers in the drawer", + "Take out the mineral water from the drawer", + "Open the drawer with the both gripper", + "Place the roll paper on the table", + "Place the shorts on the table", + "Place the adhesive tape on the table", + "Take out the disposable slippers from the drawer", + "Place the solid drinks on the table", + "Take out the adhesive tape from the drawer", + "Put the shorts in the drawer", + "Close the drawer with the both gripper", + "End", + "Pick up the tissue on the table", + "Put the tissue in the drawer", + "Take out the shorts from the drawer", + "Pick up the T-shirt on the table", + "Take out the solid drinks from the drawer", + "Pick up the mineral water on the table", + "Put the mineral water in the drawer", + "Pick up the adhesive tape on the table", + "Take out the roll paper from the drawer", + "Close the drawer", + "Open the drawer", + "Take out the T-shirt from the drawer", + "Put the disposable slippers in the drawer", + "Put the adhesive tape in the drawer", + "Take the paper out of the drawer and put it on the table", + "Put the solid drinks in the drawer", + "Place the mineral water on the table", + "Put the T-shirt in the drawer", + "abnormal", + "Place the T-shirt on the table", + "Pick up the solid drinks on the table", + "Pick up the disposable slippers on the table", + "Pick up the shorts on the table", + "Pick up the roll paper on the table", + "Put the roll paper in the drawer", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_pick_up_and_store_items_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_pick_up_and_store_items_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_turn_off_the_desk_lamp": { + "path": "Cobot_Magic_turn_off_the_desk_lamp", + "dataset_name": "turn_off_the_desk_lamp", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "pressbutton" + ], + "tasks": "use the left arm to press the button switch on the lamp holder", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "desk_lamp", + "level1": "daily_necessities", + "level2": "desk_lamp", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-121821", + "dataset_size": "8.4GB", + "statistics": { + "total_episodes": 398, + "total_frames": 121821, + "total_tasks": 6, + "total_videos": 1194, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "1f49016c-b7ec-43a1-aa91-d6f484617a5f", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "use the left arm to press the button switch on the lamp holder", + "use the right arm to press the button switch on the lamp holder", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_turn_off_the_desk_lamp_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_dispose_of_leftover_food": { + "path": "R1_Lite_dispose_of_leftover_food", + "dataset_name": "dispose_of_leftover_food", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "flip" + ], + "tasks": "Move the bowl over the trash can", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "garbage_bin", + "level1": "container", + "level2": "garbage_bin", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "leftovers", + "level1": "garbage", + "level2": "leftovers", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-135632", + "dataset_size": "7.5GB", + "statistics": { + "total_episodes": 127, + "total_frames": 135632, + "total_tasks": 1, + "total_videos": 381, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "b7ae3dcc-5b70-445f-b473-3d83772d3b1b", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Move the bowl over the trash can", + "Pour the leftover food from the plate into the trash can", + "Pour the leftover food from the bowl into the trash can", + "Pick up the plate with leftover food", + "Put the bowl back to the table", + "Move the plate over the trash can", + "Pick up the bowl with leftover food", + "Put the plate back to the table", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_dispose_of_leftover_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_dispose_of_leftover_food_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Galaxea_R1_Lite_pour_water": { + "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", + "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_table", + "level1": "furniture", + "level2": "white_table", + "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 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": "Pour water into 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": "Pick up 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": "Pick up the gray plastic cup with right gripper", + "subtask_index": 21 + }, + { + "subtask": "Grasp the green cup with the right gripper", + "subtask_index": 22 + }, + { + "subtask": "Pick up the blue plastic cup with left gripper", + "subtask_index": 23 + }, + { + "subtask": "Grasp the white cup with the left gripper", + "subtask_index": 24 + }, + { + "subtask": "Pour water from white cup to green cup with the left gripper", + "subtask_index": 25 + }, + { + "subtask": "Pour water from blue cup to white cup with the right gripper", + "subtask_index": 26 + }, + { + "subtask": "Place the blue plastic cup on the table with right gripper", + "subtask_index": 27 + }, + { + "subtask": "Place the gray plastic cup on the table with right gripper", + "subtask_index": 28 + }, + { + "subtask": "Pour water from white cup to blue cup with the left gripper", + "subtask_index": 29 + }, + { + "subtask": "Right gripper", + "subtask_index": 30 + }, + { + "subtask": "Place the green plastic cup on the table with left gripper", + "subtask_index": 31 + }, + { + "subtask": "Pour water from green cup to blue cup with the right gripper", + "subtask_index": 32 + }, + { + "subtask": "Place the green plastic cup on the table with right gripper", + "subtask_index": 33 + }, + { + "subtask": "Grasp the blue cup with the right gripper", + "subtask_index": 34 + }, + { + "subtask": "Pour water from green cup to blue cup with the left gripper", + "subtask_index": 35 + }, + { + "subtask": "Place the green cup with the right gripper", + "subtask_index": 36 + }, + { + "subtask": "Place the green cup with the left gripper", + "subtask_index": 37 + }, + { + "subtask": "End", + "subtask_index": 38 + }, + { + "subtask": "Pour water from green cup to white cup with the right gripper", + "subtask_index": 39 + }, + { + "subtask": "Place the blue cup with the left gripper", + "subtask_index": 40 + }, + { + "subtask": "Pour water from green cup to white cup with the left gripper", + "subtask_index": 41 + }, + { + "subtask": "Pour water into the green plastic cup with left gripper", + "subtask_index": 42 + }, + { + "subtask": "Pour water into the gray plastic cup with right gripper", + "subtask_index": 43 + }, + { + "subtask": "Pour water into the gray plastic cup with left gripper", + "subtask_index": 44 + }, + { + "subtask": "null", + "subtask_index": 45 + } + ], + "atomic_actions": [ + "grasp", + "pick", + "place", + "pour" + ], + "robot_name": [ + "Galaxea_R1_Lite" + ], + "end_effector_type": "two_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_left_rgb", + "cam_head_right_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb" + ], + "came_info": { + "cam_head_left_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", + "cam_head_right_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=360x640x3, resolution=640x360, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 100, + "total_frames": 43201, + "fps": 30, + "total_tasks": 46, + "total_videos": 400, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "932.69 MB" + }, + "frame_num": 43201, + "dataset_size": "932.69 MB", + "data_structure": "Galaxea_R1_Lite_Galaxea_R1_Lite_pour_water_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:99" + }, + "features": { + "observation.images.cam_head_left_rgb": { + "dtype": "video", + "shape": [ + 720, + 1280, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 720, + "video.width": 1280, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_head_right_rgb": { + "dtype": "video", + "shape": [ + 720, + 1280, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 720, + "video.width": 1280, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 360, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 360, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 360, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 360, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 14 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_gripper_open", + "right_gripper_open" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 14 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_gripper_open", + "right_gripper_open" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" + }, + "G1edu-u3_pick_up_the_bottled_water_b": { + "path": "G1edu-u3_pick_up_the_bottled_water_b", + "dataset_name": "pick_up_the_bottled_water_b", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick" + ], + "tasks": "Grasp the water bottle and lift it to the center of the view with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bottle", + "level1": "container", + "level2": "bottle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "water", + "level1": "beverages", + "level2": "water", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-10067", + "dataset_size": "125.2MB", + "statistics": { + "total_episodes": 30, + "total_frames": 10067, + "total_tasks": 1, + "total_videos": 30, + "total_chunks": 1, + "chunks_size": 31, + "fps": 30 + }, + "dataset_uuid": "fed7136f-3c38-4756-81e4-f9e2dd2eaad5", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the water bottle and lift it to the center of the view with right gripper", + "Grasp the water bottle and lift it to the center of the view with left gripper", + "End", + "Abnormal", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_up_the_bottled_water_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_cover_the_pot_lid": { + "path": "R1_Lite_cover_the_pot_lid", + "dataset_name": "cover_the_pot_lid", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Pick up the steamer", + "objects": [ + { + "object_name": "steamer_cage", + "level1": "container", + "level2": "steamer_cage", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "steamer_lid", + "level1": "daily_necessities", + "level2": "steamer_lid", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-65358", + "dataset_size": "4.1GB", + "statistics": { + "total_episodes": 100, + "total_frames": 65358, + "total_tasks": 1, + "total_videos": 300, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "41489668-9cf7-44d4-ba77-a691084c63fe", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Pick up the steamer", + "Put the steamer", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_cover_the_pot_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_cover_the_pot_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│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_classification_of_fruits_and_vegetables_a": { + "path": "Cobot_Magic_classification_of_fruits_and_vegetables_a", + "dataset_name": "classification_of_fruits_and_vegetables_a", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grab a potato with your right arm and put it on the left plate", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "white_carrot", + "level1": "vegetables", + "level2": "white_carrot", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "eggplant", + "level1": "vegetables", + "level2": "eggplant", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-187645", + "dataset_size": "10.4GB", + "statistics": { + "total_episodes": 300, + "total_frames": 187645, + "total_tasks": 3, + "total_videos": 900, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "792e3e06-8f5e-444d-9a30-740d091a9210", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grab a potato with your right arm and put it on the left plate", + "use the right arm to grab a chayote and put it into the left plate", + "use the left arm to grab a chayote and put it into the right plate", + "Grab a potato with your left arm and put it on the left plate", + "use the right arm to grab a chayote and put it into the right plate", + "use the left arm to grab a carrot and put it into the left plate", + "use the left arm to grab a carrot and put it into the right plate", + "use the right arm to grab a carrot and put it into the left plate", + "Grab a potato with your right arm and put it on the right plate", + "use the left arm to grab a radish and put it into the right plate", + "Grab the chayote with your right arm and put it on the left plate", + "use the right arm to grab a carrot and put it into the right plate", + "Grab a potato with your left arm and put it on the right plate", + "use the left arm to grab a chayote and put it into the left plate", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_classification_of_fruits_and_vegetables_a_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Split_aloha_basket_storage_egg_yolk_pastry": { + "path": "Split_aloha_basket_storage_egg_yolk_pastry", + "dataset_name": "basket_storage_egg_yolk_pastry", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Grasp the basket with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_yolk_pastry", + "level1": "food", + "level2": "egg_yolk_pastry", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "basket", + "level1": "container", + "level2": "basket", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-254419", + "dataset_size": "6.7GB", + "statistics": { + "total_episodes": 629, + "total_frames": 254419, + "total_tasks": 1, + "total_videos": 1887, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "c5e8e66a-392d-4197-8236-7a50365c0ed3", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the basket with left gripper", + "Static", + "Grasp egg yolk pastry with right gripper", + "End", + "Abnormal", + "Place the egg yolk pastry in the basket with right gripper", + "Place the basket in the center of view with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Split_aloha_basket_storage_egg_yolk_pastry_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_little_tray_storage_apple_b": { + "path": "G1edu-u3_little_tray_storage_apple_b", + "dataset_name": "little_tray_storage_apple_b", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "pick", + "place" + ], + "tasks": "Place the apple on the orange plate with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tray", + "level1": "container", + "level2": "tray", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "apple", + "level1": "fruit", + "level2": "apple", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-3928", + "dataset_size": "51.2MB", + "statistics": { + "total_episodes": 15, + "total_frames": 3928, + "total_tasks": 1, + "total_videos": 15, + "total_chunks": 1, + "chunks_size": 15, + "fps": 30 + }, + "dataset_uuid": "eddea5f5-2b14-472e-a8a5-7cdb15b1e6b5", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the apple on the orange plate with right gripper", + "End", + "Place the apple on the orange plate with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_little_tray_storage_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_little_tray_storage_apple_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_tidy_up_toiletries": { + "path": "R1_Lite_tidy_up_toiletries", + "dataset_name": "tidy_up_toiletries", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the cup on the table", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "toiletries", + "level1": "personal_care_products", + "level2": "toiletries", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "drawer", + "level1": "container", + "level2": "drawer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "storage_box", + "level1": "container", + "level2": "storage_box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cup", + "level1": "container", + "level2": "cup", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-205789", + "dataset_size": "9.8GB", + "statistics": { + "total_episodes": 115, + "total_frames": 205789, + "total_tasks": 1, + "total_videos": 345, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "8dfd4c19-842d-4dce-8253-ffaf5f56d7df", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the cup on the table", + "Place the comb on the table with the right gripper", + "Place the bathroom toiletry into the drawer", + "Pick up the cup", + "Pick up the bathroom toiletry", + "Open the drawer with the left gripper", + "Grasp the bathroom toiletry with the left gripper", + "Put toiletries in the drawer", + "Grasp the black cup with the left gripper", + "Place the cup on the storage box", + "Close the drawer", + "Open the drawer", + "Place the black cup on the drawer with the left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_tidy_up_toiletries_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_tidy_up_toiletries_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Airbot_MMK2_move_block_gold_bar_models": { + "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_gold_bar_models", + "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": "eyeglass_case", + "level1": "laboratory_supplies", + "level2": "eyeglass_case", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "early_education_toys", + "level1": "toys", + "level2": "early_education_toys", + "level3": null, + "level4": null, + "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "place the glasses case in the middle of the table with your left hand and put the toy gold bar on the glasses case with your right hand." + ], + "sub_tasks": [ + { + "subtask": "Place the gold bar on the glasses case with the right gripper", + "subtask_index": 0 + }, + { + "subtask": "Grasp the glasses case with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Abnormal", + "subtask_index": 2 + }, + { + "subtask": "Static", + "subtask_index": 3 + }, + { + "subtask": "Place the glasses case on the middle of the table with the left gripper", + "subtask_index": 4 + }, + { + "subtask": "End", + "subtask_index": 5 + }, + { + "subtask": "Grasp the gold bar 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": 50, + "total_frames": 10703, + "fps": 30, + "total_tasks": 8, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "434.03 MB" + }, + "frame_num": 10703, + "dataset_size": "434.03 MB", + "data_structure": "Airbot_MMK2_move_block_gold_bar_models_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\n| `-- chunk-000\n| |-- episode_000000.parquet\n| |-- episode_000001.parquet\n| |-- episode_000002.parquet\n| |-- episode_000003.parquet\n| |-- episode_000004.parquet\n| |-- episode_000005.parquet\n| |-- episode_000006.parquet\n| |-- episode_000007.parquet\n| |-- episode_000008.parquet\n| |-- episode_000009.parquet\n| |-- episode_000010.parquet\n| `-- episode_000011.parquet\n| `-- ... (38 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n`-- videos\n `-- chunk-000\n |-- observation.images.cam_front_rgb\n |-- observation.images.cam_head_rgb\n |-- observation.images.cam_left_wrist_rgb\n `-- observation.images.cam_right_wrist_rgb", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_front_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "action": { + "dtype": "float32", + "shape": [ + 36 + ], + "names": [ + "left_arm_joint_1_rad", + "left_arm_joint_2_rad", + "left_arm_joint_3_rad", + "left_arm_joint_4_rad", + "left_arm_joint_5_rad", + "left_arm_joint_6_rad", + "right_arm_joint_1_rad", + "right_arm_joint_2_rad", + "right_arm_joint_3_rad", + "right_arm_joint_4_rad", + "right_arm_joint_5_rad", + "right_arm_joint_6_rad", + "left_hand_joint_1_rad", + "left_hand_joint_2_rad", + "left_hand_joint_3_rad", + "left_hand_joint_4_rad", + "left_hand_joint_5_rad", + "left_hand_joint_6_rad", + "left_hand_joint_7_rad", + "left_hand_joint_8_rad", + "left_hand_joint_9_rad", + "left_hand_joint_10_rad", + "left_hand_joint_11_rad", + "left_hand_joint_12_rad", + "right_hand_joint_1_rad", + "right_hand_joint_2_rad", + "right_hand_joint_3_rad", + "right_hand_joint_4_rad", + "right_hand_joint_5_rad", + "right_hand_joint_6_rad", + "right_hand_joint_7_rad", + "right_hand_joint_8_rad", + "right_hand_joint_9_rad", + "right_hand_joint_10_rad", + "right_hand_joint_11_rad", + "right_hand_joint_12_rad" + ] + }, + "timestamp": { + "dtype": "float32", + "shape": [ + 1 + ], + "names": null + }, + "frame_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "episode_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "task_index": { + "dtype": "int64", + "shape": [ + 1 + ], + "names": null + }, + "subtask_annotation": { + "names": null, + "shape": [ + 5 + ], + "dtype": "int32" + }, + "scene_annotation": { + "names": null, + "shape": [ + 1 + ], + "dtype": "int32" + }, + "eef_sim_pose_state": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_sim_pose_action": { + "names": [ + "left_eef_pos_x", + "left_eef_pos_y", + "left_eef_pos_z", + "left_eef_rot_x", + "left_eef_rot_y", + "left_eef_rot_z", + "right_eef_pos_x", + "right_eef_pos_y", + "right_eef_pos_z", + "right_eef_rot_x", + "right_eef_rot_y", + "right_eef_rot_z" + ], + "shape": [ + 12 + ], + "dtype": "float32" + }, + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_velocity_action": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_state": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "eef_acc_mag_action": { + "names": [ + "left_eef_acc_mag", + "right_eef_acc_mag" + ], + "shape": [ + 2 + ], + "dtype": "int32" + } + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" + } + ] + }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" + }, + "AIRBOT_MMK2_place_cookies_and_beer": { + "path": "AIRBOT_MMK2_place_cookies_and_beer", + "dataset_name": "place_cookies_and_beer", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the bagged cookies with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "biscuit", + "level1": "food", + "level2": "biscuit", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lid", + "level1": "daily_necessities", + "level2": "lid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "beer_mug", + "level1": "container", + "level2": "beer_mug", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-10519", + "dataset_size": "515.1MB", + "statistics": { + "total_episodes": 50, + "total_frames": 10519, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "a380537f-44a3-457c-8113-67604aec65a7", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the bagged cookies with the left gripper", + "End", + "Grasp the beer mug with the right gripper", + "Place the bagged cookies on the white basket with the left gripper", + "Place the beer mug on the white basket with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_place_cookies_and_beer_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AgiBot-g1_storage_item_b": { + "path": "AgiBot-g1_storage_item_b", + "dataset_name": "storage_item_b", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Place the mouse and power cord into the box.", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "data_cable", + "level1": "tool", + "level2": "data_cable", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "box", + "level1": "container", + "level2": "box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "mouse", + "level1": "tool", + "level2": "mouse", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-48184", + "dataset_size": "21.3GB", + "statistics": { + "total_episodes": 106, + "total_frames": 48184, + "total_tasks": 1, + "total_videos": 848, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "6dc0fd94-f3bf-4d74-8dca-8b8723050f7d", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the mouse and power cord into the box.", + "Simultaneously pick up the mouse and power cord from the accessory packaging area.", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AgiBot-g1_storage_item_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AgiBot-g1_storage_item_b_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_back_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_back_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_center_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_left_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_high_right_fisheye_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "alpha_bot_2_move_the_table": { + "path": "alpha_bot_2_move_the_table", + "dataset_name": "move_the_table", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-50897", + "dataset_size": "1.4GB", + "statistics": { + "total_episodes": 72, + "total_frames": 50897, + "total_tasks": 1, + "total_videos": 288, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "09e62222-abf5-4a90-a95b-91d15d99af82", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Move the table forward with both grippers", + "Grasp the table with both grippers", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "alpha_bot_2_move_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "alpha_bot_2_move_the_table_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_chest_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Cobot_Magic_vase_storage_flower": { + "path": "Cobot_Magic_vase_storage_flower", + "dataset_name": "vase_storage_flower", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the pink flower in the vase with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "flowers", + "level1": "botany", + "level2": "flowers", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "tablecloth", + "level1": "clothing", + "level2": "tablecloth", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "vase", + "level1": "container", + "level2": "vase", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-239272", + "dataset_size": "12.8GB", + "statistics": { + "total_episodes": 455, + "total_frames": 239272, + "total_tasks": 6, + "total_videos": 1365, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "ba4d8977-ef3d-433d-97f5-974b820832e8", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the pink flower in the vase with right gripper", + "Grasp the dumpling with right gripper", + "Grasp the white flower with right gripper", + "Put the flowers in the vase with both hands", + "Grasp the dumpling with left gripper", + "use the right arm to insert the flowers into the vase", + "Abnormal", + "use the right arm to grab a bunch of fresh flowers", + "End", + "Place the white flower in the vase with right gripper", + "Place the dumpling on the steamer with left gripper", + "Place the pink flower in the vase with left gripper", + "Grasp the blue flower with right gripper", + "Place the blue flower in the vase with right gripper", + "Place the dumpling on the steamer with right gripper", + "use the left arm to insert the flowers into the vase", + "use the left arm to grab a bunch of fresh flowers", + "Place the blue flower in the vase with left gripper", + "Grasp the pink flower with left gripper", + "Grasp the pink flower with right gripper", + "Grasp the blue flower with left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "Cobot_Magic_vase_storage_flower_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "Cobot_Magic_vase_storage_flower_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_front_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_drawer_storage_hair_dryer": { + "path": "R1_Lite_drawer_storage_hair_dryer", + "dataset_name": "drawer_storage_hair_dryer", + "robot_type": "", + "end_effector_type": [ + "two_finger_gripper" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place", + "push", + "pull" + ], + "tasks": "abnormal", + "objects": [ + { + "object_name": "drawer", + "level1": "container", + "level2": "drawer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "hair_dryer", + "level1": "electrical_appliances", + "level2": "hair_dryer", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "washbasin", + "level1": "furniture", + "level2": "washbasin", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-206825", + "dataset_size": "9.4GB", + "statistics": { + "total_episodes": 145, + "total_frames": 206825, + "total_tasks": 1, + "total_videos": 435, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "7ec2120b-9c60-40ef-901e-6526e5f7bae8", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "abnormal", + "Put it into the drawer", + "Take the hairdryer out", + "Close the drawer", + "Place it on the countertop", + "Pull open the drawer", + "Pick up the hairdryer", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "R1_Lite_drawer_storage_hair_dryer_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_drawer_storage_hair_dryer_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_moving_parts_f": { + "path": "leju_robot_moving_parts_f", + "dataset_name": "moving_parts_f", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the white part on the table with left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-716938", + "dataset_size": "44.2GB", + "statistics": { + "total_episodes": 489, + "total_frames": 716938, + "total_tasks": 1, + "total_videos": 1467, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "b51f42cb-0020-403b-b1c0-c4cc99f2190a", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the white part on the table with left gripper", + "Grasp the white part with left gripper", + "Place the gray part on the table with right gripper", + "End", + "Return to the initial position at the workbench.", + "Move the small component to the workbench.", + "Abnormal", + "Place the white part on the table with right gripper", + "Insert the small component into the corresponding slot on the workbench.", + "Pick up the small component from the shelf.", + "Grasp the gray part with right gripper", + "Move to the table behind body", + "Grasp the white part with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "leju_robot_moving_parts_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_f_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_pick_leftover_food_ac": { + "path": "G1edu-u3_pick_leftover_food_ac", + "dataset_name": "pick_leftover_food_ac", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "leftover_food", + "level1": "trash", + "level2": "leftover_food", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-4666", + "dataset_size": "63.0MB", + "statistics": { + "total_episodes": 14, + "total_frames": 4666, + "total_tasks": 1, + "total_videos": 14, + "total_chunks": 1, + "chunks_size": 14, + "fps": 30 + }, + "dataset_uuid": "31bb63f2-f1c2-48b4-bc7f-98e365933e8f", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Abnormal", + "Grasp the bagged food and lift it to the center of the view with left gripper ", + "Grasp the bagged food and lift it to the center of the view with right gripper ", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_pick_leftover_food_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_pick_leftover_food_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_food_storage": { + "path": "AIRBOT_MMK2_food_storage", + "dataset_name": "food_storage", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Grasp the cake from the table and with the left gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cake", + "level1": "food", + "level2": "cake", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "ice_cream", + "level1": "food", + "level2": "ice_cream", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bowl", + "level1": "container", + "level2": "bowl", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "plate", + "level1": "container", + "level2": "plate", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg", + "level1": "food", + "level2": "egg", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "egg_box", + "level1": "container", + "level2": "egg_box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "potato", + "level1": "vegetables", + "level2": "potato", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "grid", + "level1": "container", + "level2": "grid", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "braised_pork", + "level1": "food", + "level2": "braised_pork", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "prawns", + "level1": "food", + "level2": "prawns", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "sponge", + "level1": "kitchenware", + "level2": "sponge", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "wooden_frame", + "level1": "furniture", + "level2": "wooden_frame", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-58969", + "dataset_size": "2.4GB", + "statistics": { + "total_episodes": 344, + "total_frames": 58969, + "total_tasks": 7, + "total_videos": 1376, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "9c369848-06e7-404b-b234-c5f7a829f345", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Grasp the cake from the table and with the left gripper", + "Place the shrimp into the plate with the right gripper", + "Close the lid of the egg storage box with the left gripper", + "Place the potato into the left compartment of the storage box with the left gripper", + "Grasp the ice cream with the right gripper", + "Place the braised pork in brown sauce into the plate with the left gripper", + "Grasp the potato with the left gripper", + "Place the cake into the bowl with the left gripper", + "Place the egg into the egg storage box with the right gripper", + "Grasp the egg with the left gripper", + "Place the egg into the plate with the left gripper", + "Grasp the egg with the right gripper", + "Place the egg into the plate with the right gripper", + "Place the cake onto the block toy with the left gripper", + "Place the cake onto the block toy with the right gripper", + "End", + "Place the ice cream into the plate with the right gripper", + "Grasp the cake from the table and with the right gripper", + "Place the sponge on the table with the left gripper", + "Grasp the braised pork in brown sauce with the left gripper", + "Grasp the cake with the left gripper", + "Static", + "Grasp the sponge from the plate and with the left gripper", + "Place the cake into the plate with the right gripper", + "Abnormal", + "Grasp the shrimp with the right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube": { + "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_left_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": "Pour the blue reagent into the graduated cylinder with the left gripper", + "subtask_index": 0 + }, + { + "subtask": "Pour the yellow reagent into the graduated cylinder with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Grasp the yellow reagent with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "Grasp the blue reagent with the left gripper", + "subtask_index": 3 + }, + { + "subtask": "End", + "subtask_index": 4 + }, + { + "subtask": "Place the test tube into the bowl with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "null", + "subtask_index": 6 + } + ], + "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=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": 50, + "total_frames": 45568, + "fps": 30, + "total_tasks": 7, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 14, + "action_dim": 14, + "camera_views": 4, + "dataset_size": "1.54 GB" + }, + "frame_num": 45568, + "dataset_size": "1.54 GB", + "data_structure": "Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:49" + }, + "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", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_pick_leftover_food_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_pick_leftover_food_ac_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_food_storage": { - "path": "AIRBOT_MMK2_food_storage", - "dataset_name": "food_storage", + "R1_Lite_take_and_put_away_garden_stuff": { + "path": "R1_Lite_take_and_put_away_garden_stuff", + "dataset_name": "take_and_put_away_garden_stuff", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", "pick", - "place" + "place", + "pull", + "push" ], - "tasks": "Grasp the cake from the table and with the left gripper", + "tasks": "Pick up the ball on the table", "objects": [ { - "object_name": "table", + "object_name": "refrigerator", "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "cake", - "level1": "food", - "level2": "cake", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "ice_cream", - "level1": "food", - "level2": "ice_cream", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "bowl", - "level1": "container", - "level2": "bowl", + "level2": "refrigerator", "level3": null, "level4": null, "level5": null }, { - "object_name": "plate", + "object_name": "drawer", "level1": "container", - "level2": "plate", + "level2": "drawer", "level3": null, "level4": null, "level5": null }, { - "object_name": "egg", - "level1": "food", - "level2": "egg", + "object_name": "table", + "level1": "furniture", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "egg_box", + "object_name": "tray", "level1": "container", - "level2": "egg_box", + "level2": "tray", "level3": null, "level4": null, "level5": null }, { "object_name": "potato", - "level1": "vegetables", + "level1": "food", "level2": "potato", "level3": null, "level4": null, "level5": null }, { - "object_name": "grid", - "level1": "container", - "level2": "grid", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "braised_pork", + "object_name": "green_pepper", "level1": "food", - "level2": "braised_pork", + "level2": "green_pepper", "level3": null, "level4": null, "level5": null }, { - "object_name": "prawns", + "object_name": "pumpkin", "level1": "food", - "level2": "prawns", + "level2": "pumpkin", "level3": null, "level4": null, "level5": null }, { - "object_name": "sponge", - "level1": "kitchenware", - "level2": "sponge", + "object_name": "apple", + "level1": "food", + "level2": "apple", "level3": null, "level4": null, "level5": null }, { - "object_name": "wooden_frame", - "level1": "furniture", - "level2": "wooden_frame", + "object_name": "orange", + "level1": "food", + "level2": "orange", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-58969", - "dataset_size": "2.4GB", + "operation_platform_height": null, + "frame_range": "0-135711", + "dataset_size": "7.5GB", "statistics": { - "total_episodes": 344, - "total_frames": 58969, - "total_tasks": 7, - "total_videos": 1376, + "total_episodes": 53, + "total_frames": 135711, + "total_tasks": 1, + "total_videos": 159, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "9c369848-06e7-404b-b234-c5f7a829f345", + "dataset_uuid": "05f234b5-3958-4897-b330-5c91290dd15c", "language": [ "en", "zh" @@ -81603,32 +108277,16 @@ "robotics" ], "sub_tasks": [ - "Grasp the cake from the table and with the left gripper", - "Place the shrimp into the plate with the right gripper", - "Close the lid of the egg storage box with the left gripper", - "Place the potato into the left compartment of the storage box with the left gripper", - "Grasp the ice cream with the right gripper", - "Place the braised pork in brown sauce into the plate with the left gripper", - "Grasp the potato with the left gripper", - "Place the cake into the bowl with the left gripper", - "Place the egg into the egg storage box with the right gripper", - "Grasp the egg with the left gripper", - "Place the egg into the plate with the left gripper", - "Grasp the egg with the right gripper", - "Place the egg into the plate with the right gripper", - "Place the cake onto the block toy with the left gripper", - "Place the cake onto the block toy with the right gripper", - "End", - "Place the ice cream into the plate with the right gripper", - "Grasp the cake from the table and with the right gripper", - "Place the sponge on the table with the left gripper", - "Grasp the braised pork in brown sauce with the left gripper", - "Grasp the cake with the left gripper", - "Static", - "Grasp the sponge from the plate and with the left gripper", - "Place the cake into the plate with the right gripper", - "Abnormal", - "Grasp the shrimp with the right gripper", + "Pick up the ball on the table", + "Pick up the ball on the lid", + "Put the toys in the box", + "Open the lid", + "abnormal", + "Close the lid", + "Put the ball in the box", + "Pick up the ball on the floor", + "Pick up toys out of the box", + "Find toys out of the box", "null" ], "annotations": { @@ -81666,10 +108324,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_food_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube": { + "Agilex_Cobot_Magic_storage_fruit_bowl": { "task_categories": [ "robotics" ], @@ -81699,11 +108357,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube", + "dataset_name": "Agilex_Cobot_Magic_storage_fruit_bowl", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "office_workspace", - "level2": "office", + "level1": "household", + "level2": "kitchen", "level3": null, "level4": null, "level5": null @@ -81711,49 +108369,41 @@ "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", + "object_name": "table", + "level1": "home_storage", + "level2": "table", "level3": null, "level4": null, "level5": null }, { - "object_name": "red_pigment", - "level1": "materials", - "level2": "red_pigment", + "object_name": "bowl", + "level1": "kitchen_supplies", + "level2": "bowl", "level3": null, "level4": null, "level5": null }, { - "object_name": "test_tube_rack", - "level1": "holding_utensils", - "level2": "test_tube_rack", + "object_name": "green_lemon", + "level1": "food", + "level2": "green_lemon", "level3": null, "level4": null, "level5": null }, { - "object_name": "test_tubes", - "level1": "laboratory_supplies", - "level2": "test_tubes", + "object_name": "mango", + "level1": "food", + "level2": "mango", "level3": null, "level4": null, "level5": null }, { - "object_name": "beaker", - "level1": "holding_utensils", - "level2": "beaker", + "object_name": "pomegranate", + "level1": "food", + "level2": "pomegranate", "level3": null, "level4": null, "level5": null @@ -81761,66 +108411,91 @@ ], "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." + "put the three fruits on the table into a bowl." ], "sub_tasks": [ { - "subtask": "Pour the blue reagent into the graduated cylinder with the left gripper", + "subtask": "Grasp the pomegranate with left gripper", "subtask_index": 0 }, { - "subtask": "Pour the yellow reagent into the graduated cylinder with the left gripper", + "subtask": "Place the pomegranate in the blue bowl with left gripper", "subtask_index": 1 }, { - "subtask": "Grasp the yellow reagent with the left gripper", + "subtask": "Grasp the pomegranate with right gripper", "subtask_index": 2 }, { - "subtask": "Grasp the blue reagent with the left gripper", + "subtask": "Place the green lemon in the blue bowl with right gripper", "subtask_index": 3 }, { - "subtask": "End", + "subtask": "Grasp the green lemon with left gripper", "subtask_index": 4 }, { - "subtask": "Place the test tube into the bowl with the left gripper", + "subtask": "Place the pomegranate in the blue bowl with right gripper", "subtask_index": 5 }, { - "subtask": "null", + "subtask": "Place the mango in the blue bowl with right gripper", "subtask_index": 6 + }, + { + "subtask": "Grasp the mango with right gripper", + "subtask_index": 7 + }, + { + "subtask": "End", + "subtask_index": 8 + }, + { + "subtask": "Place the mango in the blue bowl with left gripper", + "subtask_index": 9 + }, + { + "subtask": "Grasp the green lemon with right gripper", + "subtask_index": 10 + }, + { + "subtask": "Place the green lemon in the blue bowl with left gripper", + "subtask_index": 11 + }, + { + "subtask": "Grasp the mango with left gripper", + "subtask_index": 12 + }, + { + "subtask": "null", + "subtask_index": 13 } ], "atomic_actions": [ "grasp", - "pick", - "place", - "pour" + "lift", + "lower" ], "robot_name": [ - "Galaxea_R1_Lite" + "Agilex_Cobot_Magic" ], "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_left_rgb", - "cam_head_right_rgb", + "cam_head_rgb", "cam_left_wrist_rgb", "cam_right_wrist_rgb" ], "came_info": { - "cam_head_left_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_head_right_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=720x1280x3, resolution=1280x720, codec=av1, pix_fmt=yuv420p" + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" }, "depth_enabled": false, "coordinate_definition": "right-hand-frame", "joint_rotation_dim": "radian", - "end_rotation_dim": "end_rotation_dim", - "end_translation_dim": "end_translation_dim", + "end_rotation_dim": "radian", + "end_translation_dim": "meter", "annotations": [ "eef_acc_mag_annotation.jsonl", "eef_direction_annotation.jsonl", @@ -81831,53 +108506,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 50, - "total_frames": 45568, + "total_episodes": 100, + "total_frames": 78670, "fps": 30, - "total_tasks": 7, - "total_videos": 200, + "total_tasks": 14, + "total_videos": 300, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 14, - "action_dim": 14, - "camera_views": 4, - "dataset_size": "1.54 GB" + "state_dim": 26, + "action_dim": 26, + "camera_views": 3, + "dataset_size": "740.83 MB" }, - "frame_num": 45568, - "dataset_size": "1.54 GB", - "data_structure": "Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "frame_num": 78670, + "dataset_size": "740.83 MB", + "data_structure": "Agilex_Cobot_Magic_storage_fruit_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| `-- ... (88 more entries)\n|-- meta\n| |-- episodes.jsonl\n| |-- episodes_stats.jsonl\n| |-- info.json\n| `-- tasks.jsonl\n|-- videos\n| `-- chunk-000\n| |-- observation.images.cam_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:49" + "train": "0:99" }, "features": { - "observation.images.cam_head_left_rgb": { - "dtype": "video", - "shape": [ - 720, - 1280, - 3 - ], - "names": [ - "height", - "width", - "channels" - ], - "info": { - "video.height": 720, - "video.width": 1280, - "video.codec": "av1", - "video.pix_fmt": "yuv420p", - "video.is_depth_map": false, - "video.fps": 30, - "video.channels": 3, - "has_audio": false - } - }, - "observation.images.cam_head_right_rgb": { + "observation.images.cam_head_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -81886,8 +108538,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -81899,8 +108551,8 @@ "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -81909,8 +108561,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -81922,8 +108574,8 @@ "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 720, - 1280, + 480, + 640, 3 ], "names": [ @@ -81932,8 +108584,8 @@ "channels" ], "info": { - "video.height": 720, - "video.width": 1280, + "video.height": 480, + "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -81945,7 +108597,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 14 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -81954,20 +108606,32 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "action": { "dtype": "float32", "shape": [ - 14 + 26 ], "names": [ "left_arm_joint_1_rad", @@ -81976,14 +108640,26 @@ "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", + "left_gripper_open", + "left_eef_pos_x_m", + "left_eef_pos_y_m", + "left_eef_pos_z_m", + "left_eef_rot_euler_x_rad", + "left_eef_rot_euler_y_rad", + "left_eef_rot_euler_z_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_gripper_open", - "right_gripper_open" + "right_gripper_open", + "right_eef_pos_x_m", + "right_eef_pos_y_m", + "right_eef_pos_z_m", + "right_eef_rot_euler_x_rad", + "right_eef_rot_euler_y_rad", + "right_eef_rot_euler_z_rad" ] }, "timestamp": { @@ -82023,17 +108699,17 @@ }, "subtask_annotation": { "names": null, + "dtype": "int32", "shape": [ 5 - ], - "dtype": "int32" + ] }, "scene_annotation": { "names": null, + "dtype": "int32", "shape": [ 1 - ], - "dtype": "int32" + ] }, "eef_sim_pose_state": { "names": [ @@ -82050,10 +108726,10 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_sim_pose_action": { "names": [ @@ -82070,130 +108746,130 @@ "right_eef_rot_y", "right_eef_rot_z" ], + "dtype": "float32", "shape": [ 12 - ], - "dtype": "float32" + ] }, "eef_direction_state": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_direction_action": { "names": [ "left_eef_direction", "right_eef_direction" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_state": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_velocity_action": { "names": [ "left_eef_velocity", "right_eef_velocity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_state": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "eef_acc_mag_action": { "names": [ "left_eef_acc_mag", "right_eef_acc_mag" ], + "dtype": "int32", "shape": [ 2 - ], - "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" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_mode_action": { "names": [ "left_gripper_mode", "right_gripper_mode" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_activity_state": { "names": [ "left_gripper_activity", "right_gripper_activity" ], + "dtype": "int32", "shape": [ 2 - ], - "dtype": "int32" + ] }, "gripper_activity_action": { "names": [ "left_gripper_activity", "right_gripper_activity" ], + "dtype": "int32", + "shape": [ + 2 + ] + }, + "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": "int32" + "dtype": "float32", + "shape": [ + 2 + ] } }, "authors": { @@ -82215,168 +108891,7 @@ "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" - }, - "R1_Lite_take_and_put_away_garden_stuff": { - "path": "R1_Lite_take_and_put_away_garden_stuff", - "dataset_name": "take_and_put_away_garden_stuff", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "pull", - "push" - ], - "tasks": "Pick up the ball on the table", - "objects": [ - { - "object_name": "refrigerator", - "level1": "furniture", - "level2": "refrigerator", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "drawer", - "level1": "container", - "level2": "drawer", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "tray", - "level1": "container", - "level2": "tray", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "potato", - "level1": "food", - "level2": "potato", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "green_pepper", - "level1": "food", - "level2": "green_pepper", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "pumpkin", - "level1": "food", - "level2": "pumpkin", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "apple", - "level1": "food", - "level2": "apple", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "orange", - "level1": "food", - "level2": "orange", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-135711", - "dataset_size": "7.5GB", - "statistics": { - "total_episodes": 53, - "total_frames": 135711, - "total_tasks": 1, - "total_videos": 159, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "05f234b5-3958-4897-b330-5c91290dd15c", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Pick up the ball on the table", - "Pick up the ball on the lid", - "Put the toys in the box", - "Open the lid", - "abnormal", - "Close the lid", - "Put the ball in the box", - "Pick up the ball on the floor", - "Pick up toys out of the box", - "Find toys out of the box", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_take_and_put_away_garden_stuff_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, "Split_aloha_stir_coffee": { "path": "Split_aloha_stir_coffee", @@ -89347,20 +115862,223 @@ "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, - "AIRBOT_MMK2_storage_computer_box": { - "path": "AIRBOT_MMK2_storage_computer_box", - "dataset_name": "storage_computer_box", + "AIRBOT_MMK2_storage_computer_box": { + "path": "AIRBOT_MMK2_storage_computer_box", + "dataset_name": "storage_computer_box", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Place the calculator box into the white basket with the right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "calculator_box", + "level1": "container", + "level2": "calculator_box", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "lid", + "level1": "container", + "level2": "lid", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-10024", + "dataset_size": "363.7MB", + "statistics": { + "total_episodes": 50, + "total_frames": 10024, + "total_tasks": 1, + "total_videos": 200, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "dc4fba6b-79c1-4977-a7ad-1b159d434505", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the calculator box into the white basket with the right gripper", + "Deliver the calculator box from left gripper to right gripper", + "Grasp the calculator box with the left gripper", + "End", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_storage_computer_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_storage_computer_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "AIRBOT_MMK2_organize_and_place_books": { + "path": "AIRBOT_MMK2_organize_and_place_books", + "dataset_name": "organize_and_place_books", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place", + "pick" + ], + "tasks": "Place the yellow book on the white book with the right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "book", + "level1": "office_supplies", + "level2": "book", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": 77.2, + "frame_range": "0-9838", + "dataset_size": "372.1MB", + "statistics": { + "total_episodes": 48, + "total_frames": 9838, + "total_tasks": 1, + "total_videos": 192, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "6782c838-a0d2-4a8e-a50b-cc092bb2a215", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "Place the yellow book on the white book with the right gripper", + "Static", + "End", + "Deliver the yellow book from left gripper to right gripper", + "Grasp the yellow book with the left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_organize_and_place_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_organize_and_place_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "R1_Lite_sliding_chair": { + "path": "R1_Lite_sliding_chair", + "dataset_name": "sliding_chair", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "Place the calculator box into the white basket with the right gripper", + "tasks": "Push the gray chair back under the dining table", "objects": [ { "object_name": "table", @@ -89371,35 +116089,27 @@ "level5": null }, { - "object_name": "calculator_box", - "level1": "container", - "level2": "calculator_box", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "lid", - "level1": "container", - "level2": "lid", + "object_name": "chair", + "level1": "furniture", + "level2": "chair", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-10024", - "dataset_size": "363.7MB", + "operation_platform_height": null, + "frame_range": "0-142290", + "dataset_size": "6.6GB", "statistics": { - "total_episodes": 50, - "total_frames": 10024, + "total_episodes": 87, + "total_frames": 142290, "total_tasks": 1, - "total_videos": 200, + "total_videos": 261, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "dc4fba6b-79c1-4977-a7ad-1b159d434505", + "dataset_uuid": "4bd1c96c-6ba1-4688-b331-2557a39894e2", "language": [ "en", "zh" @@ -89408,10 +116118,10 @@ "robotics" ], "sub_tasks": [ - "Place the calculator box into the white basket with the right gripper", - "Deliver the calculator box from left gripper to right gripper", - "Grasp the calculator box with the left gripper", - "End", + "Push the gray chair back under the dining table", + "Pull the gray chair out from under the dining table", + "Push the blue chair back under the dining table", + "Pull the blue chair out from under the dining table", "null" ], "annotations": { @@ -89449,12 +116159,12 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_storage_computer_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_storage_computer_box_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_sliding_chair_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_sliding_chair_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_organize_and_place_books": { - "path": "AIRBOT_MMK2_organize_and_place_books", - "dataset_name": "organize_and_place_books", + "AIRBOT_MMK2_pumpkin_storage": { + "path": "AIRBOT_MMK2_pumpkin_storage", + "dataset_name": "pumpkin_storage", "robot_type": "", "end_effector_type": [ "five_finger_hand" @@ -89462,10 +116172,10 @@ "scene_type": [], "atomic_actions": [ "grasp", - "place", - "pick" + "pick", + "place" ], - "tasks": "Place the yellow book on the white book with the right gripper", + "tasks": "Static", "objects": [ { "object_name": "table", @@ -89476,27 +116186,35 @@ "level5": null }, { - "object_name": "book", - "level1": "office_supplies", - "level2": "book", + "object_name": "pumpkin", + "level1": "food", + "level2": "pumpkin", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cubicle", + "level1": "container", + "level2": "cubicle", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": 77.2, - "frame_range": "0-9838", - "dataset_size": "372.1MB", + "frame_range": "0-12358", + "dataset_size": "462.9MB", "statistics": { - "total_episodes": 48, - "total_frames": 9838, + "total_episodes": 49, + "total_frames": 12358, "total_tasks": 1, - "total_videos": 192, + "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "6782c838-a0d2-4a8e-a50b-cc092bb2a215", + "dataset_uuid": "591a516b-5f33-44ad-aa8a-b9b96c17194d", "language": [ "en", "zh" @@ -89505,11 +116223,11 @@ "robotics" ], "sub_tasks": [ - "Place the yellow book on the white book with the right gripper", "Static", + "Grasp the pumpkin with the right gripper", "End", - "Deliver the yellow book from left gripper to right gripper", - "Grasp the yellow book with the left gripper", + "Place the pumpkin into the right compartment of the storage box", + "Place the pumpkin into the right compartment of the storage box with the right gripper", "null" ], "annotations": { @@ -89547,15 +116265,15 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_organize_and_place_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_organize_and_place_books_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_pumpkin_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_pumpkin_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "R1_Lite_sliding_chair": { - "path": "R1_Lite_sliding_chair", - "dataset_name": "sliding_chair", + "AIRBOT_MMK2_potato_storage": { + "path": "AIRBOT_MMK2_potato_storage", + "dataset_name": "potato_storage", "robot_type": "", "end_effector_type": [ - "two_finger_gripper" + "five_finger_hand" ], "scene_type": [], "atomic_actions": [ @@ -89563,7 +116281,7 @@ "pick", "place" ], - "tasks": "Push the gray chair back under the dining table", + "tasks": "End", "objects": [ { "object_name": "table", @@ -89574,27 +116292,35 @@ "level5": null }, { - "object_name": "chair", - "level1": "furniture", - "level2": "chair", + "object_name": "potato", + "level1": "food", + "level2": "potato", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "compartment", + "level1": "container", + "level2": "compartment", "level3": null, "level4": null, "level5": null } ], - "operation_platform_height": null, - "frame_range": "0-142290", - "dataset_size": "6.6GB", + "operation_platform_height": 77.2, + "frame_range": "0-6958", + "dataset_size": "252.5MB", "statistics": { - "total_episodes": 87, - "total_frames": 142290, - "total_tasks": 1, - "total_videos": 261, + "total_episodes": 50, + "total_frames": 6958, + "total_tasks": 2, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "4bd1c96c-6ba1-4688-b331-2557a39894e2", + "dataset_uuid": "8fcf234f-ff14-4dc4-9bae-a32238fde9ed", "language": [ "en", "zh" @@ -89603,10 +116329,12 @@ "robotics" ], "sub_tasks": [ - "Push the gray chair back under the dining table", - "Pull the gray chair out from under the dining table", - "Push the blue chair back under the dining table", - "Pull the blue chair out from under the dining table", + "End", + "Place the potato into the left compartment of the storage box with the left gripper", + "Grasp the potato with the left gripper", + "Place the potato into the right compartment of the storage box with the right gripper", + "Grasp the potato with the right gripper", + "Abnormal", "null" ], "annotations": { @@ -89644,221 +116372,513 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "R1_Lite_sliding_chair_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_sliding_chair_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "AIRBOT_MMK2_potato_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_potato_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "AIRBOT_MMK2_pumpkin_storage": { - "path": "AIRBOT_MMK2_pumpkin_storage", - "dataset_name": "pumpkin_storage", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" + "Realman_RMC-AIDA-L_hang_clothes": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" + "language": [ + "en" ], - "tasks": "Static", + "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_hang_clothes", + "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", + "object_name": "clothes_drying_rack", + "level1": "storage_racks", + "level2": "clothes_drying_rack", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "shirt", + "level1": "clothing", + "level2": "shirt", "level3": null, "level4": null, "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "the left gripper grasp the clothes and hang them on the clothes rack." + ], + "sub_tasks": [ + { + "subtask": "End", + "subtask_index": 0 + }, + { + "subtask": "Grasp the hanger with the left gripper", + "subtask_index": 1 + }, + { + "subtask": "Place the hanger on the rack with the left gripper", + "subtask_index": 2 + }, + { + "subtask": "null", + "subtask_index": 3 + } + ], + "atomic_actions": [ + "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": 10021, + "fps": 30, + "total_tasks": 4, + "total_videos": 150, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 28, + "action_dim": 28, + "camera_views": 3, + "dataset_size": "234.72 MB" + }, + "frame_num": 10021, + "dataset_size": "234.72 MB", + "data_structure": "Realman_RMC-AIDA-L_hang_clothes_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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_head_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", + "splits": { + "train": "0:49" + }, + "features": { + "observation.images.cam_head_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_left_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.cam_right_wrist_rgb": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.height": 480, + "video.width": 640, + "video.codec": "av1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.fps": 30, + "video.channels": 3, + "has_audio": false + } + }, + "observation.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" }, - { - "object_name": "pumpkin", - "level1": "food", - "level2": "pumpkin", - "level3": null, - "level4": null, - "level5": null + "eef_direction_state": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "cubicle", - "level1": "container", - "level2": "cubicle", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": 77.2, - "frame_range": "0-12358", - "dataset_size": "462.9MB", - "statistics": { - "total_episodes": 49, - "total_frames": 12358, - "total_tasks": 1, - "total_videos": 196, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "591a516b-5f33-44ad-aa8a-b9b96c17194d", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "Static", - "Grasp the pumpkin with the right gripper", - "End", - "Place the pumpkin into the right compartment of the storage box", - "Place the pumpkin into the right compartment of the storage box with the right gripper", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_pumpkin_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_pumpkin_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" - }, - "AIRBOT_MMK2_potato_storage": { - "path": "AIRBOT_MMK2_potato_storage", - "dataset_name": "potato_storage", - "robot_type": "", - "end_effector_type": [ - "five_finger_hand" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place" - ], - "tasks": "End", - "objects": [ - { - "object_name": "table", - "level1": "furniture", - "level2": "table", - "level3": null, - "level4": null, - "level5": null + "eef_direction_action": { + "names": [ + "left_eef_direction", + "right_eef_direction" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "potato", - "level1": "food", - "level2": "potato", - "level3": null, - "level4": null, - "level5": null + "eef_velocity_state": { + "names": [ + "left_eef_velocity", + "right_eef_velocity" + ], + "shape": [ + 2 + ], + "dtype": "int32" }, - { - "object_name": "compartment", - "level1": "container", - "level2": "compartment", - "level3": null, - "level4": null, - "level5": null + "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" } - ], - "operation_platform_height": 77.2, - "frame_range": "0-6958", - "dataset_size": "252.5MB", - "statistics": { - "total_episodes": 50, - "total_frames": 6958, - "total_tasks": 2, - "total_videos": 200, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "8fcf234f-ff14-4dc4-9bae-a32238fde9ed", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "End", - "Place the potato into the left compartment of the storage box with the left gripper", - "Grasp the potato with the left gripper", - "Place the potato into the right compartment of the storage box with the right gripper", - "Grasp the potato with the right gripper", - "Abnormal", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" }, "authors": { "contributed_by": [ { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_potato_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_potato_storage_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_head_rgb/episode_000000.mp4" }, "Cobot_Magic_classification_of_tableware": { "path": "Cobot_Magic_classification_of_tableware", @@ -95215,19 +122235,229 @@ "level5": null } ], - "operation_platform_height": 77.2, - "frame_range": "0-13979", - "dataset_size": "392.2MB", + "operation_platform_height": 77.2, + "frame_range": "0-13979", + "dataset_size": "392.2MB", + "statistics": { + "total_episodes": 48, + "total_frames": 13979, + "total_tasks": 1, + "total_videos": 192, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 30 + }, + "dataset_uuid": "a274e48b-ea08-49bb-a762-da873baef867", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Place the paper cup on the magic cube with the left gripper", + "Abnormal", + "Grasp the magic cube with the right gripper", + "Place the magic cube on the plate with the right gripper", + "Grasp the paper cup with the left gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "G1edu-u3_put_the_water_bottle_aq": { + "path": "G1edu-u3_put_the_water_bottle_aq", + "dataset_name": "put_the_water_bottle_aq", + "robot_type": "", + "end_effector_type": [ + "three_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "place" + ], + "tasks": "End", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "bottle", + "level1": "container", + "level2": "bottle", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "water", + "level1": "beverages", + "level2": "water", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-5861", + "dataset_size": "73.1MB", + "statistics": { + "total_episodes": 21, + "total_frames": 5861, + "total_tasks": 1, + "total_videos": 21, + "total_chunks": 1, + "chunks_size": 24, + "fps": 30 + }, + "dataset_uuid": "09897bd8-675b-4f42-892f-cc674883e61f", + "language": [ + "en", + "zh" + ], + "task_categories": [ + "robotics" + ], + "sub_tasks": [ + "End", + "Place the water bottle on the table with left gripper", + "Place the water bottle on the table with right gripper", + "null" + ], + "annotations": { + "subtask_annotation": "auto_generated", + "scene_annotation": "auto_generated", + "eef_direction": "auto_generated", + "eef_velocity": "auto_generated", + "eef_acc_mag": "auto_generated", + "gripper_mode": "auto_generated", + "gripper_activity": "auto_generated" + }, + "authors": { + "contributed_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ], + "annotated_by": [ + { + "name": "RoboCOIN", + "url": "https://flagopen.github.io/RoboCOIN/", + "affiliation": "RoboCOIN Team" + } + ] + }, + "homepage": "https://flagopen.github.io/RoboCOIN/", + "paper": "https://arxiv.org/abs/2511.17441", + "repository": "https://github.com/FlagOpen/RoboCOIN", + "license": "apache-2.0", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", + "depth_enabled": false, + "data_schema": "G1edu-u3_put_the_water_bottle_aq_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "G1edu-u3_put_the_water_bottle_aq_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + }, + "leju_robot_moving_parts_r": { + "path": "leju_robot_moving_parts_r", + "dataset_name": "moving_parts_r", + "robot_type": "", + "end_effector_type": [ + "five_finger_hand" + ], + "scene_type": [], + "atomic_actions": [ + "grasp", + "pick", + "place" + ], + "tasks": "Place the black part on the table with right gripper", + "objects": [ + { + "object_name": "table", + "level1": "furniture", + "level2": "table", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "parts", + "level1": "mechanical_parts", + "level2": "parts", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "cabinet", + "level1": "home_storage", + "level2": "cabinet", + "level3": null, + "level4": null, + "level5": null + } + ], + "operation_platform_height": null, + "frame_range": "0-775023", + "dataset_size": "53.4GB", "statistics": { - "total_episodes": 48, - "total_frames": 13979, + "total_episodes": 495, + "total_frames": 775023, "total_tasks": 1, - "total_videos": 192, + "total_videos": 1485, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "a274e48b-ea08-49bb-a762-da873baef867", + "dataset_uuid": "ee9fa92f-ba5e-4973-ab0f-b16bc5e31efe", "language": [ "en", "zh" @@ -95236,12 +122466,14 @@ "robotics" ], "sub_tasks": [ + "Place the black part on the table with right gripper", + "Pick up the large material from the shelf.", + "Insert the large material into the corresponding slot on the workbench.", "End", - "Place the paper cup on the magic cube with the left gripper", - "Abnormal", - "Grasp the magic cube with the right gripper", - "Place the magic cube on the plate with the right gripper", - "Grasp the paper cup with the left gripper", + "Grasp the black part with right gripper", + "Move the large material to the workbench.", + "Move to the initial position of the shelf.", + "Move to the table behind body", "null" ], "annotations": { @@ -95279,165 +122511,554 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "AIRBOT_MMK2_storage_rubiks_cube_and_cup_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_right_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_third_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "leju_robot_moving_parts_r_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "leju_robot_moving_parts_r_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "G1edu-u3_put_the_water_bottle_aq": { - "path": "G1edu-u3_put_the_water_bottle_aq", - "dataset_name": "put_the_water_bottle_aq", - "robot_type": "", - "end_effector_type": [ - "three_finger_hand" + "Airbot_MMK2_move_book_right_side": { + "task_categories": [ + "robotics" ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "place" + "language": [ + "en" ], - "tasks": "End", + "tags": [ + "RoboCOIN", + "LeRobot" + ], + "license": "apache-2.0", + "configs": [ + { + "config_name": "default", + "data_files": "data/chunk-{id}/episode_{id}.parquet" + } + ], + "extra_gated_prompt": "By accessing this dataset, you agree to cite the associated paper in your research/publications—see the \"Citation\" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.", + "extra_gated_fields": { + "Company/Organization": { + "type": "text", + "description": "e.g., \"ETH Zurich\", \"Boston Dynamics\", \"Independent Researcher\"" + }, + "Country": { + "type": "country", + "description": "e.g., \"Germany\", \"China\", \"United States\"" + } + }, + "codebase_version": "v2.1", + "dataset_name": "Airbot_MMK2_move_book_right_side", + "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": "table", - "level1": "furniture", - "level2": "table", + "object_name": "book", + "level1": "stationery", + "level2": "book", "level3": null, "level4": null, "level5": null + } + ], + "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", + "task_instruction": [ + "pick up the book with your left hand, hand it to your right hand and then put it down." + ], + "sub_tasks": [ + { + "subtask": "Pass the yellow book to right gripper", + "subtask_index": 0 }, { - "object_name": "bottle", - "level1": "container", - "level2": "bottle", - "level3": null, - "level4": null, - "level5": null + "subtask": "End", + "subtask_index": 1 }, { - "object_name": "water", - "level1": "beverages", - "level2": "water", - "level3": null, - "level4": null, - "level5": null + "subtask": "Grasp the yellow book with left gripper", + "subtask_index": 2 + }, + { + "subtask": "Place the yellow book in the center of table with right gripper", + "subtask_index": 3 + }, + { + "subtask": "null", + "subtask_index": 4 } ], - "operation_platform_height": null, - "frame_range": "0-5861", - "dataset_size": "73.1MB", - "statistics": { - "total_episodes": 21, - "total_frames": 5861, - "total_tasks": 1, - "total_videos": 21, - "total_chunks": 1, - "chunks_size": 24, - "fps": 30 - }, - "dataset_uuid": "09897bd8-675b-4f42-892f-cc674883e61f", - "language": [ - "en", - "zh" + "atomic_actions": [ + "grasp", + "pick", + "place" ], - "task_categories": [ - "robotics" + "robot_name": [ + "Airbot_MMK2" ], - "sub_tasks": [ - "End", - "Place the water bottle on the table with left gripper", - "Place the water bottle on the table with right gripper", - "null" + "end_effector_type": "five_finger_gripper", + "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", + "sensor_list": [ + "cam_head_rgb", + "cam_left_wrist_rgb", + "cam_right_wrist_rgb", + "cam_front_rgb" ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" + "came_info": { + "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", + "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + }, + "depth_enabled": false, + "coordinate_definition": "right-hand-frame", + "joint_rotation_dim": "radian", + "end_rotation_dim": "end_rotation_dim", + "end_translation_dim": "end_translation_dim", + "annotations": [ + "eef_acc_mag_annotation.jsonl", + "eef_direction_annotation.jsonl", + "eef_velocity_annotation.jsonl", + "gripper_activity_annotation.jsonl", + "gripper_mode_annotation.jsonl", + "scene_annotations.jsonl", + "subtask_annotations.jsonl" + ], + "statistics": { + "total_episodes": 46, + "total_frames": 7183, + "fps": 30, + "total_tasks": 5, + "total_videos": 184, + "total_chunks": 1, + "chunks_size": 1000, + "state_dim": 36, + "action_dim": 36, + "camera_views": 4, + "dataset_size": "225.02 MB" + }, + "frame_num": 7183, + "dataset_size": "225.02 MB", + "data_structure": "Airbot_MMK2_move_book_right_side_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\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", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" + "name": "RoboCOIN Team at Beijing Academy of Artificial Intelligence (BAAI)" } ] }, + "dataset_description": "This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.", "homepage": "https://flagopen.github.io/RoboCOIN/", "paper": "https://arxiv.org/abs/2511.17441", "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "G1edu-u3_put_the_water_bottle_aq_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "G1edu-u3_put_the_water_bottle_aq_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n └── observation.images.ego_view/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "contact_info": "For questions, issues, or feedback regarding this dataset, please contact us.", + "support_info": "For technical support, please open an issue on our GitHub repository.", + "license_details": "apache-2.0", + "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025},\n }\n", + "additional_citations": "If you use this dataset, please also consider citing:\nLeRobot Framework: https://github.com/huggingface/lerobot\n", + "version_info": "Initial Release", + "data_path": "data/chunk-{id}/episode_{id}.parquet", + "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", + "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" }, - "leju_robot_moving_parts_r": { - "path": "leju_robot_moving_parts_r", - "dataset_name": "moving_parts_r", + "R1_Lite_clean_the_floor": { + "path": "R1_Lite_clean_the_floor", + "dataset_name": "clean_the_floor", "robot_type": "", "end_effector_type": [ - "five_finger_hand" + "two_finger_gripper" ], "scene_type": [], "atomic_actions": [ "grasp", "pick", - "place" + "place", + "wipe" ], - "tasks": "Place the black part on the table with right gripper", + "tasks": "abnormal", "objects": [ { - "object_name": "table", - "level1": "furniture", - "level2": "table", + "object_name": "floor", + "level1": "home_building_materials", + "level2": "floor", "level3": null, "level4": null, "level5": null }, { - "object_name": "parts", - "level1": "mechanical_parts", - "level2": "parts", + "object_name": "rag", + "level1": "fabric", + "level2": "rag", "level3": null, "level4": null, "level5": null }, { - "object_name": "cabinet", - "level1": "home_storage", - "level2": "cabinet", + "object_name": "carpet", + "level1": "fabric", + "level2": "carpet", + "level3": null, + "level4": null, + "level5": null + }, + { + "object_name": "foam_cleaning_net", + "level1": "cleaning_supplies", + "level2": "foam_cleaning_net", "level3": null, "level4": null, "level5": null } ], "operation_platform_height": null, - "frame_range": "0-775023", - "dataset_size": "53.4GB", + "frame_range": "0-159495", + "dataset_size": "10.1GB", "statistics": { - "total_episodes": 495, - "total_frames": 775023, + "total_episodes": 87, + "total_frames": 159495, "total_tasks": 1, - "total_videos": 1485, + "total_videos": 261, "total_chunks": 1, "chunks_size": 1000, "fps": 30 }, - "dataset_uuid": "ee9fa92f-ba5e-4973-ab0f-b16bc5e31efe", + "dataset_uuid": "e5bd0025-b766-49f0-b99d-9321e477b362", "language": [ "en", "zh" @@ -95446,14 +123067,14 @@ "robotics" ], "sub_tasks": [ - "Place the black part on the table with right gripper", - "Pick up the large material from the shelf.", - "Insert the large material into the corresponding slot on the workbench.", - "End", - "Grasp the black part with right gripper", - "Move the large material to the workbench.", - "Move to the initial position of the shelf.", - "Move to the table behind body", + "abnormal", + "Put down the rag", + "Pick up the foam protection net", + "Lift up the carpet", + "Place the foam protection net on the floor", + "Wipe the floor under the carpet with a rag", + "Pick up the rag", + "Lay down the carpet", "null" ], "annotations": { @@ -95491,10 +123112,10 @@ ], "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", "depth_enabled": false, - "data_schema": "leju_robot_moving_parts_r_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "leju_robot_moving_parts_r_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.camera_head_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.camera_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.camera_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "data_schema": "R1_Lite_clean_the_floor_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", + "structure": "R1_Lite_clean_the_floor_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" }, - "Airbot_MMK2_move_book_right_side": { + "Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube": { "task_categories": [ "robotics" ], @@ -95524,11 +123145,11 @@ } }, "codebase_version": "v2.1", - "dataset_name": "Airbot_MMK2_move_book_right_side", + "dataset_name": "Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube", "dataset_uuid": "00000000-0000-0000-0000-000000000000", "scene_type": { - "level1": "household", - "level2": "study_room", + "level1": "office_workspace", + "level2": "office", "level3": null, "level4": null, "level5": null @@ -95536,9 +123157,49 @@ "env_type": "Due to some reasons, this dataset temporarily cannot provide the environment type information.", "objects": [ { - "object_name": "book", - "level1": "stationery", - "level2": "book", + "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 @@ -95546,51 +123207,64 @@ ], "task_operation_type": "Due to some reasons, this dataset temporarily cannot provide the operation type information.", "task_instruction": [ - "pick up the book with your left hand, hand it to your right hand and then put it down." + "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": "Pass the yellow book to right gripper", + "subtask": "Pour the blue reagent into the graduated cylinder with the left gripper", "subtask_index": 0 }, { - "subtask": "End", + "subtask": "Pour the yellow reagent into the graduated cylinder with the left gripper", "subtask_index": 1 }, { - "subtask": "Grasp the yellow book with left gripper", + "subtask": "Grasp the yellow reagent with the left gripper", "subtask_index": 2 }, { - "subtask": "Place the yellow book in the center of table with right gripper", + "subtask": "Grasp the blue reagent with the left gripper", "subtask_index": 3 }, { - "subtask": "null", + "subtask": "End", "subtask_index": 4 + }, + { + "subtask": "Place the test tube into the brown cup with the left gripper", + "subtask_index": 5 + }, + { + "subtask": "Grasp the red reagent with the right gripper", + "subtask_index": 6 + }, + { + "subtask": "null", + "subtask_index": 7 } ], "atomic_actions": [ "grasp", "pick", - "place" + "place", + "pour" ], "robot_name": [ - "Airbot_MMK2" + "Galaxea_R1_Lite" ], - "end_effector_type": "five_finger_gripper", + "end_effector_type": "two_finger_gripper", "tele_type": "Due to some reasons, this dataset temporarily cannot provide the teleoperation type information.", "sensor_list": [ - "cam_head_rgb", + "cam_head_left_rgb", + "cam_head_right_rgb", "cam_left_wrist_rgb", - "cam_right_wrist_rgb", - "cam_front_rgb" + "cam_right_wrist_rgb" ], "came_info": { - "cam_head_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_left_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_right_wrist_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p", - "cam_front_rgb": "dtype=video, shape=480x640x3, resolution=640x480, codec=av1, pix_fmt=yuv420p" + "cam_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", @@ -95607,30 +123281,30 @@ "subtask_annotations.jsonl" ], "statistics": { - "total_episodes": 46, - "total_frames": 7183, + "total_episodes": 50, + "total_frames": 33650, "fps": 30, - "total_tasks": 5, - "total_videos": 184, + "total_tasks": 8, + "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, - "state_dim": 36, - "action_dim": 36, + "state_dim": 14, + "action_dim": 14, "camera_views": 4, - "dataset_size": "225.02 MB" + "dataset_size": "1.50 GB" }, - "frame_num": 7183, - "dataset_size": "225.02 MB", - "data_structure": "Airbot_MMK2_move_book_right_side_qced_hardlink/\n|-- annotations\n| |-- eef_acc_mag_annotation.jsonl\n| |-- eef_direction_annotation.jsonl\n| |-- eef_velocity_annotation.jsonl\n| |-- gripper_activity_annotation.jsonl\n| |-- gripper_mode_annotation.jsonl\n| |-- scene_annotations.jsonl\n| `-- subtask_annotations.jsonl\n|-- data\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", + "frame_num": 33650, + "dataset_size": "1.50 GB", + "data_structure": "Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube_qced_hardlink/\n|-- annotations\n| |-- eef_acc_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_head_left_rgb\n| |-- observation.images.cam_head_right_rgb\n| |-- observation.images.cam_left_wrist_rgb\n| `-- observation.images.cam_right_wrist_rgb\n|-- info.yaml\n`-- README.md", "splits": { - "train": "0:45" + "train": "0:49" }, "features": { - "observation.images.cam_head_rgb": { + "observation.images.cam_head_left_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -95639,8 +123313,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -95649,11 +123323,11 @@ "has_audio": false } }, - "observation.images.cam_left_wrist_rgb": { + "observation.images.cam_head_right_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -95662,8 +123336,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -95672,11 +123346,11 @@ "has_audio": false } }, - "observation.images.cam_right_wrist_rgb": { + "observation.images.cam_left_wrist_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -95685,8 +123359,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -95695,11 +123369,11 @@ "has_audio": false } }, - "observation.images.cam_front_rgb": { + "observation.images.cam_right_wrist_rgb": { "dtype": "video", "shape": [ - 480, - 640, + 720, + 1280, 3 ], "names": [ @@ -95708,8 +123382,8 @@ "channels" ], "info": { - "video.height": 480, - "video.width": 640, + "video.height": 720, + "video.width": 1280, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, @@ -95721,7 +123395,7 @@ "observation.state": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -95736,36 +123410,14 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "action": { "dtype": "float32", "shape": [ - 36 + 14 ], "names": [ "left_arm_joint_1_rad", @@ -95780,30 +123432,8 @@ "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", - "left_hand_joint_1_rad", - "left_hand_joint_2_rad", - "left_hand_joint_3_rad", - "left_hand_joint_4_rad", - "left_hand_joint_5_rad", - "left_hand_joint_6_rad", - "left_hand_joint_7_rad", - "left_hand_joint_8_rad", - "left_hand_joint_9_rad", - "left_hand_joint_10_rad", - "left_hand_joint_11_rad", - "left_hand_joint_12_rad", - "right_hand_joint_1_rad", - "right_hand_joint_2_rad", - "right_hand_joint_3_rad", - "right_hand_joint_4_rad", - "right_hand_joint_5_rad", - "right_hand_joint_6_rad", - "right_hand_joint_7_rad", - "right_hand_joint_8_rad", - "right_hand_joint_9_rad", - "right_hand_joint_10_rad", - "right_hand_joint_11_rad", - "right_hand_joint_12_rad" + "left_gripper_open", + "right_gripper_open" ] }, "timestamp": { @@ -95954,6 +123584,66 @@ 2 ], "dtype": "int32" + }, + "gripper_open_scale_state": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_open_scale_action": { + "names": [ + "left_gripper_open_scale", + "right_gripper_open_scale" + ], + "shape": [ + 2 + ], + "dtype": "float32" + }, + "gripper_mode_state": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_mode_action": { + "names": [ + "left_gripper_mode", + "right_gripper_mode" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_state": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" + }, + "gripper_activity_action": { + "names": [ + "left_gripper_activity", + "right_gripper_activity" + ], + "shape": [ + 2 + ], + "dtype": "int32" } }, "authors": { @@ -95975,125 +123665,7 @@ "version_info": "Initial Release", "data_path": "data/chunk-{id}/episode_{id}.parquet", "video_path": "videos/chunk-{id}/observation.images.cam_left_wrist_rgb/episode_{id}.mp{id}", - "video_url": "videos/chunk-000/observation.images.cam_front_rgb/episode_000000.mp4" - }, - "R1_Lite_clean_the_floor": { - "path": "R1_Lite_clean_the_floor", - "dataset_name": "clean_the_floor", - "robot_type": "", - "end_effector_type": [ - "two_finger_gripper" - ], - "scene_type": [], - "atomic_actions": [ - "grasp", - "pick", - "place", - "wipe" - ], - "tasks": "abnormal", - "objects": [ - { - "object_name": "floor", - "level1": "home_building_materials", - "level2": "floor", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "rag", - "level1": "fabric", - "level2": "rag", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "carpet", - "level1": "fabric", - "level2": "carpet", - "level3": null, - "level4": null, - "level5": null - }, - { - "object_name": "foam_cleaning_net", - "level1": "cleaning_supplies", - "level2": "foam_cleaning_net", - "level3": null, - "level4": null, - "level5": null - } - ], - "operation_platform_height": null, - "frame_range": "0-159495", - "dataset_size": "10.1GB", - "statistics": { - "total_episodes": 87, - "total_frames": 159495, - "total_tasks": 1, - "total_videos": 261, - "total_chunks": 1, - "chunks_size": 1000, - "fps": 30 - }, - "dataset_uuid": "e5bd0025-b766-49f0-b99d-9321e477b362", - "language": [ - "en", - "zh" - ], - "task_categories": [ - "robotics" - ], - "sub_tasks": [ - "abnormal", - "Put down the rag", - "Pick up the foam protection net", - "Lift up the carpet", - "Place the foam protection net on the floor", - "Wipe the floor under the carpet with a rag", - "Pick up the rag", - "Lay down the carpet", - "null" - ], - "annotations": { - "subtask_annotation": "auto_generated", - "scene_annotation": "auto_generated", - "eef_direction": "auto_generated", - "eef_velocity": "auto_generated", - "eef_acc_mag": "auto_generated", - "gripper_mode": "auto_generated", - "gripper_activity": "auto_generated" - }, - "authors": { - "contributed_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ], - "annotated_by": [ - { - "name": "RoboCOIN", - "url": "https://flagopen.github.io/RoboCOIN/", - "affiliation": "RoboCOIN Team" - } - ] - }, - "homepage": "https://flagopen.github.io/RoboCOIN/", - "paper": "https://arxiv.org/abs/2511.17441", - "repository": "https://github.com/FlagOpen/RoboCOIN", - "license": "apache-2.0", - "tags": [ - "RoboCOIN", - "LeRobot" - ], - "citation_bibtex": "@article{robocoin,\n title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},\n author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},\n journal={arXiv preprint arXiv:2511.17441},\n url = {https://arxiv.org/abs/2511.17441},\n year={2025}\n }", - "depth_enabled": false, - "data_schema": "R1_Lite_clean_the_floor_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)", - "structure": "R1_Lite_clean_the_floor_qced_hardlink/\n├── annotations/\n│ ├── eef_acc_mag_annotation.jsonl\n│ ├── eef_direction_annotation.jsonl\n│ ├── eef_velocity_annotation.jsonl\n│ ├── gripper_activity_annotation.jsonl\n│ ├── gripper_mode_annotation.jsonl\n│ └── (...)\n├── data/\n│ └── chunk-000/\n│ ├── episode_000000.parquet\n│ ├── episode_000001.parquet\n│ ├── episode_000002.parquet\n│ ├── episode_000003.parquet\n│ ├── episode_000004.parquet\n│ └── (...)\n├── meta/\n│ ├── episodes.jsonl\n│ ├── episodes_stats.jsonl\n│ ├── info.json\n│ └── tasks.jsonl\n└── videos/\n └── chunk-000/\n ├── observation.images.cam_high_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n ├── observation.images.cam_left_wrist_rgb/\n │ ├── episode_000000.mp4\n │ ├── episode_000001.mp4\n │ ├── episode_000002.mp4\n │ ├── episode_000003.mp4\n │ ├── episode_000004.mp4\n │ └── (...)\n └── observation.images.cam_right_wrist_rgb/\n ├── episode_000000.mp4\n ├── episode_000001.mp4\n ├── episode_000002.mp4\n ├── episode_000003.mp4\n ├── episode_000004.mp4\n └── (...)" + "video_url": "videos/chunk-000/observation.images.cam_head_left_rgb/episode_000000.mp4" }, "Realman_RMC-AIDA-L_storage_peach_drawer": { "task_categories": [ diff --git a/info/data_index.json b/info/data_index.json index 75dac1dfad4d3fde894ebf0b424cb312fac847f4..d5a900d37e5b089d2673eca061953b53feedd60c 100644 --- a/info/data_index.json +++ b/info/data_index.json @@ -106,13 +106,29 @@ "Agilex_Cobot_Magic_close_drawer_bottom", "Agilex_Cobot_Magic_close_drawer_top", "Agilex_Cobot_Magic_close_drawer_upper", + "Agilex_Cobot_Magic_erase_board_left", "Agilex_Cobot_Magic_erase_board_left_side", + "Agilex_Cobot_Magic_fold_jeans_shorts_children's", + "Agilex_Cobot_Magic_fold_towel", + "Agilex_Cobot_Magic_fold_towel_blue_tray", + "Agilex_Cobot_Magic_fold_towel_pink_tray", + "Agilex_Cobot_Magic_move_mouse_pen", "Agilex_Cobot_Magic_move_mouse_pen_black_tablecloth", + "Agilex_Cobot_Magic_move_mouse_pen_green_tablecloth", + "Agilex_Cobot_Magic_move_mouse_pen_khaki_tablecloth", + "Agilex_Cobot_Magic_move_mouse_pen_red_tablecloth", + "Agilex_Cobot_Magic_move_object_black_tablecloth", + "Agilex_Cobot_Magic_move_pencil_sharpener", "Agilex_Cobot_Magic_open_drawer_bottom", "Agilex_Cobot_Magic_storage_bread_basket", + "Agilex_Cobot_Magic_storage_fruit_bowl", + "Agilex_Cobot_Magic_storage_lemon_mango", "Agilex_Cobot_Magic_storage_object", "Agilex_Cobot_Magic_storage_object_closest", "Agilex_Cobot_Magic_storage_object_closest_apple", + "Agilex_Cobot_Magic_storage_orange_basket_right", + "Agilex_Cobot_Magic_storage_orange_white_bag", + "Airbot_MMK2_cover_lid", "Airbot_MMK2_move_block_gold_bar_models", "Airbot_MMK2_move_book_front", "Airbot_MMK2_move_book_right_side", @@ -123,11 +139,17 @@ "Airbot_MMK2_move_phone_twice", "Airbot_MMK2_move_tub", "Airbot_MMK2_open_laptop", + "Airbot_MMK2_open_lid", "Airbot_MMK2_pass_paper_box", + "Airbot_MMK2_play_guitar", "Airbot_MMK2_pour_BBs", + "Airbot_MMK2_pull_plunger", + "Airbot_MMK2_push_plunger", "Airbot_MMK2_push_toy_car", + "Airbot_MMK2_remove_pen_cap", "Airbot_MMK2_slide_block", "Airbot_MMK2_slide_tape_onto_can", + "Airbot_MMK2_stack_block", "Airbot_MMK2_stack_bowl", "Airbot_MMK2_stack_cubic_block", "Airbot_MMK2_storage_block_BBs", @@ -135,8 +157,11 @@ "Airbot_MMK2_storage_bottle_part", "Airbot_MMK2_storage_bowl_wet_wipes", "Airbot_MMK2_storage_braised_pork_belly_shrimp", + "Airbot_MMK2_storage_cake_both_hands", + "Airbot_MMK2_storage_cake_box", "Airbot_MMK2_storage_cake_cup", "Airbot_MMK2_storage_cake_ice_cream", + "Airbot_MMK2_storage_cake_pan", "Airbot_MMK2_storage_cookie_toy_car", "Airbot_MMK2_storage_cup", "Airbot_MMK2_storage_cup_rubik's_cube", @@ -145,21 +170,29 @@ "Airbot_MMK2_storage_egg_bowl", "Airbot_MMK2_storage_egg_plate", "Airbot_MMK2_storage_electronics_yellow_baket", + "Airbot_MMK2_storage_gold_bar_model_shark_doll", + "Airbot_MMK2_storage_hourglass", "Airbot_MMK2_storage_peach_pear", "Airbot_MMK2_storage_shark_doll", "Airbot_MMK2_storage_spoon", "Airbot_MMK2_storage_tape_measure_umbrella", "Airbot_MMK2_storage_tools", "Airbot_MMK2_storage_tumbler_umbrella", + "Airbot_MMK2_storge_cake_ice_cream", "Airbot_MMK2_swap_bottle_wet_wipes_plate", + "Airbot_MMK2_swap_cake_pumpkin_plate", "Airbot_MMK2_swap_sponge_paper_box_plate", + "Airbot_MMK2_sweep_peaper", + "Airbot_MMK2_take_block_both_hands", "Airbot_MMK2_take_bowl_sponge", "Airbot_MMK2_take_cup", "Airbot_MMK2_take_dog_doll", "Airbot_MMK2_take_drink", + "Airbot_MMK2_take_egg", "Airbot_MMK2_take_electronics", "Airbot_MMK2_take_part_both_hands", "Airbot_MMK2_take_toy_car", + "Airbot_MMK2_unplug", "Cobot_Magic_box_storage_chopsticks", "Cobot_Magic_cap_the_pen_a", "Cobot_Magic_catch_the_ball", @@ -272,8 +305,11 @@ "G1edu-u3_tray_storage_lemon_a", "Galaxea_R1_Lite_arrange_baai_then_brain", "Galaxea_R1_Lite_change_baai_into_brain", + "Galaxea_R1_Lite_classify_object_five", + "Galaxea_R1_Lite_classify_object_six", "Galaxea_R1_Lite_fold_towel_twice", "Galaxea_R1_Lite_mix_blue_yellow_left_large_test_tube", + "Galaxea_R1_Lite_mix_blue_yellow_left_small_test_tube", "Galaxea_R1_Lite_mix_blue_yellow_right", "Galaxea_R1_Lite_mix_color_small_test_tube", "Galaxea_R1_Lite_mix_red_blue_large_test_tube", @@ -283,11 +319,17 @@ "Galaxea_R1_Lite_mix_red_yellow_left_large_test_tube", "Galaxea_R1_Lite_mix_red_yellow_right", "Galaxea_R1_Lite_move_mouse", + "Galaxea_R1_Lite_pour_liquid_mrable_bar_counter", "Galaxea_R1_Lite_pour_solid", "Galaxea_R1_Lite_pour_solid_marble_bar_counter", + "Galaxea_R1_Lite_pour_water", + "Galaxea_R1_Lite_storage_object_blue_plate", + "Galaxea_R1_Lite_storage_object_brown_basket", "Galaxea_R1_Lite_storage_object_dish", + "Galaxea_R1_Lite_storage_object_gray_plate", "Galaxea_R1_Lite_storage_object_yellow_basket", "Galaxea_R1_Lite_toggle_drawer_red", + "Galaxea_R1_Lite_toggle_drawer_yellow", "Galbot_g1_fold_clothe_b", "Galbot_g1_fold_clothe_c", "Galbot_g1_fold_clothe_e", @@ -400,6 +442,8 @@ "RMC-AIDA-L_stack_baskets", "RMC-AIDA-L_stir_coffee", "RMC-AIDA-L_storage_bin_storage", + "Realman_RMC-AIDA-L_hang_clothes", + "Realman_RMC-AIDA-L_storage_peach_box", "Realman_RMC-AIDA-L_storage_peach_drawer", "Realman_RMC-AIDA-L_storage_towel_basket", "Split_aloha_basket_storage_banana", @@ -421,10 +465,12 @@ "Tianqin_A2_box_storage_part", "Tianqin_A2_container_storage_graphics_card", "Tianqin_A2_place_the_paper_box", + "agilex_cobot_magic_pass_object_left_to_right_green_tablecloth", "agilex_cobot_magic_pass_object_left_to_right_khaki_tablecloth", "agilex_cobot_magic_pass_object_right_to_left_black_tablecloth", "agilex_cobot_magic_pass_object_right_to_left_green_tablecloth", "agilex_cobot_magic_pass_object_right_to_left_khaki_tablecloth", + "agilex_cobot_magic_pass_object_right_to_left_white_tablecloth", 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